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mc att ctrl multiplatform use new param api

sbg
Thomas Gubler 10 years ago
parent
fbcf2c8fb5
commit
893beb64a0
2 changed files with 67 additions and 87 deletions
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  1. 109
      src/modules/mc_att_control_multiplatform/mc_att_control.cpp
  2. 45
      src/modules/mc_att_control_multiplatform/mc_att_control.h

109
src/modules/mc_att_control_multiplatform/mc_att_control.cpp
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@ -73,31 +73,34 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : @@ -73,31 +73,34 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_actuators_0_pub(nullptr),
_n(),
/* parameters */
_params_handles({
.roll_p = px4::ParameterFloat("MC_ROLL_P", PARAM_MC_ROLL_P_DEFAULT),
.roll_rate_p = px4::ParameterFloat("MC_ROLLRATE_P", PARAM_MC_ROLLRATE_P_DEFAULT),
.roll_rate_i = px4::ParameterFloat("MC_ROLLRATE_I", PARAM_MC_ROLLRATE_I_DEFAULT),
.roll_rate_d = px4::ParameterFloat("MC_ROLLRATE_D", PARAM_MC_ROLLRATE_D_DEFAULT),
.pitch_p = px4::ParameterFloat("MC_PITCH_P", PARAM_MC_PITCH_P_DEFAULT),
.pitch_rate_p = px4::ParameterFloat("MC_PITCHRATE_P", PARAM_MC_PITCHRATE_P_DEFAULT),
.pitch_rate_i = px4::ParameterFloat("MC_PITCHRATE_I", PARAM_MC_PITCHRATE_I_DEFAULT),
.pitch_rate_d = px4::ParameterFloat("MC_PITCHRATE_D", PARAM_MC_PITCHRATE_D_DEFAULT),
.yaw_p = px4::ParameterFloat("MC_YAW_P", PARAM_MC_YAW_P_DEFAULT),
.yaw_rate_p = px4::ParameterFloat("MC_YAWRATE_P", PARAM_MC_YAWRATE_P_DEFAULT),
.yaw_rate_i = px4::ParameterFloat("MC_YAWRATE_I", PARAM_MC_YAWRATE_I_DEFAULT),
.yaw_rate_d = px4::ParameterFloat("MC_YAWRATE_D", PARAM_MC_YAWRATE_D_DEFAULT),
.yaw_ff = px4::ParameterFloat("MC_YAW_FF", PARAM_MC_YAW_FF_DEFAULT),
.yaw_rate_max = px4::ParameterFloat("MC_YAWRATE_MAX", PARAM_MC_YAWRATE_MAX_DEFAULT),
.man_roll_max = px4::ParameterFloat("MC_MAN_R_MAX", PARAM_MC_MAN_R_MAX_DEFAULT),
.man_pitch_max = px4::ParameterFloat("MC_MAN_P_MAX", PARAM_MC_MAN_P_MAX_DEFAULT),
.man_yaw_max = px4::ParameterFloat("MC_MAN_Y_MAX", PARAM_MC_MAN_Y_MAX_DEFAULT),
.acro_roll_max = px4::ParameterFloat("MC_ACRO_R_MAX", PARAM_MC_ACRO_R_MAX_DEFAULT),
.acro_pitch_max = px4::ParameterFloat("MC_ACRO_P_MAX", PARAM_MC_ACRO_P_MAX_DEFAULT),
.acro_yaw_max = px4::ParameterFloat("MC_ACRO_Y_MAX", PARAM_MC_ACRO_Y_MAX_DEFAULT)
}),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
{
_params_handles.roll_p = PX4_PARAM_INIT(MC_ROLL_P);
_params_handles.roll_rate_p = PX4_PARAM_INIT(MC_ROLLRATE_P);
_params_handles.roll_rate_i = PX4_PARAM_INIT(MC_ROLLRATE_I);
_params_handles.roll_rate_d = PX4_PARAM_INIT(MC_ROLLRATE_D);
_params_handles.pitch_p = PX4_PARAM_INIT(MC_PITCH_P);
_params_handles.pitch_rate_p = PX4_PARAM_INIT(MC_PITCHRATE_P);
_params_handles.pitch_rate_i = PX4_PARAM_INIT(MC_PITCHRATE_I);
_params_handles.pitch_rate_d = PX4_PARAM_INIT(MC_PITCHRATE_D);
_params_handles.yaw_p = PX4_PARAM_INIT(MC_YAW_P);
_params_handles.yaw_rate_p = PX4_PARAM_INIT(MC_YAWRATE_P);
_params_handles.yaw_rate_i = PX4_PARAM_INIT(MC_YAWRATE_I);
_params_handles.yaw_rate_d = PX4_PARAM_INIT(MC_YAWRATE_D);
_params_handles.yaw_ff = PX4_PARAM_INIT(MC_YAW_FF);
_params_handles.yaw_rate_max = PX4_PARAM_INIT(MC_YAWRATE_MAX);
_params_handles.man_roll_max = PX4_PARAM_INIT(MC_MAN_R_MAX);
_params_handles.man_pitch_max = PX4_PARAM_INIT(MC_MAN_P_MAX);
_params_handles.man_yaw_max = PX4_PARAM_INIT(MC_MAN_Y_MAX);
_params_handles.acro_roll_max = PX4_PARAM_INIT(MC_ACRO_R_MAX);
_params_handles.acro_pitch_max = PX4_PARAM_INIT(MC_ACRO_P_MAX);
_params_handles.acro_yaw_max = PX4_PARAM_INIT(MC_ACRO_Y_MAX);
/* fetch initial parameter values */
parameters_update();
@ -113,7 +116,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : @@ -113,7 +116,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_manual_control_sp = _n.subscribe<px4_manual_control_setpoint>(0);
_armed = _n.subscribe<px4_actuator_armed>(0);
_v_status = _n.subscribe<px4_vehicle_status>(0);
}
MulticopterAttitudeControl::~MulticopterAttitudeControl()
@ -123,57 +125,36 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl() @@ -123,57 +125,36 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
int
MulticopterAttitudeControl::parameters_update()
{
float v;
/* roll gains */
PX4_PARAM_GET(_params_handles.roll_p, &v);
_params.att_p(0) = v;
PX4_PARAM_GET(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v;
PX4_PARAM_GET(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
PX4_PARAM_GET(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v;
_params.att_p(0) = _params_handles.roll_p.update();
_params.rate_p(0) = _params_handles.roll_rate_p.update();
_params.rate_i(0) = _params_handles.roll_rate_i.update();
_params.rate_d(0) = _params_handles.roll_rate_d.update();
/* pitch gains */
PX4_PARAM_GET(_params_handles.pitch_p, &v);
_params.att_p(1) = v;
PX4_PARAM_GET(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v;
PX4_PARAM_GET(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
PX4_PARAM_GET(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v;
_params.att_p(1) = _params_handles.pitch_p.update();
_params.rate_p(1) = _params_handles.pitch_rate_p.update();
_params.rate_i(1) = _params_handles.pitch_rate_i.update();
_params.rate_d(1) = _params_handles.pitch_rate_d.update();
/* yaw gains */
PX4_PARAM_GET(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
PX4_PARAM_GET(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
PX4_PARAM_GET(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
PX4_PARAM_GET(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
PX4_PARAM_GET(_params_handles.yaw_ff, &_params.yaw_ff);
PX4_PARAM_GET(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
_params.att_p(2) = _params_handles.yaw_p.update();
_params.rate_p(2) = _params_handles.yaw_rate_p.update();
_params.rate_i(2) = _params_handles.yaw_rate_i.update();
_params.rate_d(2) = _params_handles.yaw_rate_d.update();
_params.yaw_ff = _params_handles.yaw_ff.update();
_params.yaw_rate_max = math::radians(_params_handles.yaw_rate_max.update());
/* manual control scale */
PX4_PARAM_GET(_params_handles.man_roll_max, &_params.man_roll_max);
PX4_PARAM_GET(_params_handles.man_pitch_max, &_params.man_pitch_max);
PX4_PARAM_GET(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
_params.man_roll_max = math::radians(_params_handles.man_roll_max.update());
_params.man_pitch_max = math::radians(_params_handles.man_pitch_max.update());
_params.man_yaw_max = math::radians(_params_handles.man_yaw_max.update());
/* acro control scale */
PX4_PARAM_GET(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
PX4_PARAM_GET(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
PX4_PARAM_GET(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
_params.acro_rate_max(0) = math::radians(_params_handles.acro_roll_max.update());
_params.acro_rate_max(1) = math::radians(_params_handles.acro_pitch_max.update());
_params.acro_rate_max(2) = math::radians(_params_handles.acro_yaw_max.update());
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);

45
src/modules/mc_att_control_multiplatform/mc_att_control.h
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@ -95,29 +95,28 @@ private: @@ -95,29 +95,28 @@ private:
px4::NodeHandle _n;
struct {
px4_param_t roll_p;
px4_param_t roll_rate_p;
px4_param_t roll_rate_i;
px4_param_t roll_rate_d;
px4_param_t pitch_p;
px4_param_t pitch_rate_p;
px4_param_t pitch_rate_i;
px4_param_t pitch_rate_d;
px4_param_t yaw_p;
px4_param_t yaw_rate_p;
px4_param_t yaw_rate_i;
px4_param_t yaw_rate_d;
px4_param_t yaw_ff;
px4_param_t yaw_rate_max;
px4_param_t man_roll_max;
px4_param_t man_pitch_max;
px4_param_t man_yaw_max;
px4_param_t acro_roll_max;
px4_param_t acro_pitch_max;
px4_param_t acro_yaw_max;
px4_param_t autostart_id;
px4::ParameterFloat roll_p;
px4::ParameterFloat roll_rate_p;
px4::ParameterFloat roll_rate_i;
px4::ParameterFloat roll_rate_d;
px4::ParameterFloat pitch_p;
px4::ParameterFloat pitch_rate_p;
px4::ParameterFloat pitch_rate_i;
px4::ParameterFloat pitch_rate_d;
px4::ParameterFloat yaw_p;
px4::ParameterFloat yaw_rate_p;
px4::ParameterFloat yaw_rate_i;
px4::ParameterFloat yaw_rate_d;
px4::ParameterFloat yaw_ff;
px4::ParameterFloat yaw_rate_max;
px4::ParameterFloat man_roll_max;
px4::ParameterFloat man_pitch_max;
px4::ParameterFloat man_yaw_max;
px4::ParameterFloat acro_roll_max;
px4::ParameterFloat acro_pitch_max;
px4::ParameterFloat acro_yaw_max;
} _params_handles; /**< handles for interesting parameters */
perf_counter_t _loop_perf; /**< loop performance counter */

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