MulticopterRateControl.hpp
7.21 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
/****************************************************************************
*
* 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 <RateControl.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/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/multirotor_motor_limits.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_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>
using namespace time_literals;
class MulticopterRateControl : public ModuleBase<MulticopterRateControl>, public ModuleParams, public px4::WorkItem
{
public:
MulticopterRateControl(bool vtol = false);
~MulticopterRateControl() override;
/** @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);
bool init();
private:
void Run() override;
/**
* initialize some vectors/matrices from parameters
*/
void parameters_updated();
RateControl _rate_control; ///< class for rate control calculations
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
uORB::Subscription _landing_gear_sub{ORB_ID(landing_gear)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _motor_limits_sub{ORB_ID(multirotor_motor_limits)};
uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
uORB::Publication<actuator_controls_s> _actuators_0_pub;
uORB::PublicationMulti<rate_ctrl_status_s> _controller_status_pub{ORB_ID(rate_ctrl_status)}; /**< controller status publication */
uORB::Publication<vehicle_rates_setpoint_s> _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)}; /**< rate setpoint publication */
vehicle_control_mode_s _v_control_mode{};
vehicle_status_s _vehicle_status{};
bool _actuators_0_circuit_breaker_enabled{false}; /**< circuit breaker to suppress output */
bool _landed{true};
bool _maybe_landed{true};
float _battery_status_scale{0.0f};
perf_counter_t _loop_perf; /**< loop duration performance counter */
matrix::Vector3f _rates_sp; /**< angular rates setpoint */
float _thrust_sp{0.0f}; /**< thrust setpoint */
hrt_abstime _last_run{0};
int8_t _landing_gear{landing_gear_s::GEAR_DOWN};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MC_ROLLRATE_P>) _param_mc_rollrate_p,
(ParamFloat<px4::params::MC_ROLLRATE_I>) _param_mc_rollrate_i,
(ParamFloat<px4::params::MC_RR_INT_LIM>) _param_mc_rr_int_lim,
(ParamFloat<px4::params::MC_ROLLRATE_D>) _param_mc_rollrate_d,
(ParamFloat<px4::params::MC_ROLLRATE_FF>) _param_mc_rollrate_ff,
(ParamFloat<px4::params::MC_ROLLRATE_K>) _param_mc_rollrate_k,
(ParamFloat<px4::params::MC_PITCHRATE_P>) _param_mc_pitchrate_p,
(ParamFloat<px4::params::MC_PITCHRATE_I>) _param_mc_pitchrate_i,
(ParamFloat<px4::params::MC_PR_INT_LIM>) _param_mc_pr_int_lim,
(ParamFloat<px4::params::MC_PITCHRATE_D>) _param_mc_pitchrate_d,
(ParamFloat<px4::params::MC_PITCHRATE_FF>) _param_mc_pitchrate_ff,
(ParamFloat<px4::params::MC_PITCHRATE_K>) _param_mc_pitchrate_k,
(ParamFloat<px4::params::MC_YAWRATE_P>) _param_mc_yawrate_p,
(ParamFloat<px4::params::MC_YAWRATE_I>) _param_mc_yawrate_i,
(ParamFloat<px4::params::MC_YR_INT_LIM>) _param_mc_yr_int_lim,
(ParamFloat<px4::params::MC_YAWRATE_D>) _param_mc_yawrate_d,
(ParamFloat<px4::params::MC_YAWRATE_FF>) _param_mc_yawrate_ff,
(ParamFloat<px4::params::MC_YAWRATE_K>) _param_mc_yawrate_k,
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max, /**< scaling factor from stick to yaw rate */
(ParamFloat<px4::params::MC_ACRO_R_MAX>) _param_mc_acro_r_max,
(ParamFloat<px4::params::MC_ACRO_P_MAX>) _param_mc_acro_p_max,
(ParamFloat<px4::params::MC_ACRO_Y_MAX>) _param_mc_acro_y_max,
(ParamFloat<px4::params::MC_ACRO_EXPO>) _param_mc_acro_expo, /**< expo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_EXPO_Y>) _param_mc_acro_expo_y, /**< expo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo, /**< superexpo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */
(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,
(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl
)
matrix::Vector3f _acro_rate_max; /**< max attitude rates in acro mode */
};