AngularVelocityController.hpp
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/****************************************************************************
*
* Copyright (c) 2013-2019 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.
*
****************************************************************************/
#pragma once
#include <AngularVelocityControl.hpp>
#include <lib/mathlib/math/filter/LowPassFilter2pVector3f.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/control_allocator_status.h>
#include <uORB/topics/hover_thrust_estimate.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/vehicle_angular_acceleration.h>
#include <uORB/topics/vehicle_angular_acceleration_setpoint.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
using namespace time_literals;
class AngularVelocityController : public ModuleBase<AngularVelocityController>, public ModuleParams,
public px4::WorkItem
{
public:
AngularVelocityController();
virtual ~AngularVelocityController();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::print_status() */
int print_status() override;
void Run() override;
bool init();
private:
/**
* initialize some vectors/matrices from parameters
*/
void parameters_updated();
void vehicle_status_poll();
void publish_angular_acceleration_setpoint();
void publish_torque_setpoint();
void publish_thrust_setpoint();
void publish_actuator_controls();
AngularVelocityControl _control; ///< class for control calculations
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)}; /**< motor limits subscription */
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)}; /**< vehicle angular acceleration subscription */
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
uORB::Subscription _vehicle_rates_setpoint_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _hover_thrust_estimate_sub{ORB_ID(hover_thrust_estimate)};
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
uORB::Publication<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)}; /**< controller status publication */
uORB::Publication<vehicle_angular_acceleration_setpoint_s> _vehicle_angular_acceleration_setpoint_pub{ORB_ID(vehicle_angular_acceleration_setpoint)}; /**< angular acceleration setpoint publication */
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)}; /**< thrust setpoint publication */
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)}; /**< torque setpoint publication */
vehicle_control_mode_s _vehicle_control_mode{};
vehicle_status_s _vehicle_status{};
bool _landed{true};
bool _maybe_landed{true};
float _battery_status_scale{0.0f};
perf_counter_t _loop_perf; /**< loop duration performance counter */
matrix::Vector3f _angular_velocity_sp; /**< angular velocity setpoint */
matrix::Vector3f _angular_acceleration; /**< angular acceleration (estimated) */
matrix::Vector3f _thrust_sp; /**< thrust setpoint */
float _hover_thrust{0.5f}; /**< Normalized hover thrust **/
bool _gear_state_initialized{false}; /**< true if the gear state has been initialized */
hrt_abstime _task_start{hrt_absolute_time()};
hrt_abstime _last_run{0};
hrt_abstime _timestamp_sample{0};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::AVC_X_P>) _param_avc_x_p,
(ParamFloat<px4::params::AVC_X_I>) _param_avc_x_i,
(ParamFloat<px4::params::AVC_X_I_LIM>) _param_avc_x_i_lim,
(ParamFloat<px4::params::AVC_X_D>) _param_avc_x_d,
(ParamFloat<px4::params::AVC_X_FF>) _param_avc_x_ff,
(ParamFloat<px4::params::AVC_X_K>) _param_avc_x_k,
(ParamFloat<px4::params::AVC_Y_P>) _param_avc_y_p,
(ParamFloat<px4::params::AVC_Y_I>) _param_avc_y_i,
(ParamFloat<px4::params::AVC_Y_I_LIM>) _param_avc_y_i_lim,
(ParamFloat<px4::params::AVC_Y_D>) _param_avc_y_d,
(ParamFloat<px4::params::AVC_Y_FF>) _param_avc_y_ff,
(ParamFloat<px4::params::AVC_Y_K>) _param_avc_y_k,
(ParamFloat<px4::params::AVC_Z_P>) _param_avc_z_p,
(ParamFloat<px4::params::AVC_Z_I>) _param_avc_z_i,
(ParamFloat<px4::params::AVC_Z_I_LIM>) _param_avc_z_i_lim,
(ParamFloat<px4::params::AVC_Z_D>) _param_avc_z_d,
(ParamFloat<px4::params::AVC_Z_FF>) _param_avc_z_ff,
(ParamFloat<px4::params::AVC_Z_K>) _param_avc_z_k,
(ParamFloat<px4::params::VM_MASS>) _param_vm_mass,
(ParamFloat<px4::params::VM_INERTIA_XX>) _param_vm_inertia_xx,
(ParamFloat<px4::params::VM_INERTIA_YY>) _param_vm_inertia_yy,
(ParamFloat<px4::params::VM_INERTIA_ZZ>) _param_vm_inertia_zz,
(ParamFloat<px4::params::VM_INERTIA_XY>) _param_vm_inertia_xy,
(ParamFloat<px4::params::VM_INERTIA_XZ>) _param_vm_inertia_xz,
(ParamFloat<px4::params::VM_INERTIA_YZ>) _param_vm_inertia_yz,
(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover,
(ParamBool<px4::params::MPC_USE_HTE>) _param_mpc_use_hte
)
};