mc_att_control.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 <lib/mixer/MixerBase/Mixer.hpp> // Airmode
#include <matrix/matrix/math.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_config.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/WorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <vtol_att_control/vtol_type.h>
#include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
#include <AttitudeControl.hpp>
using namespace time_literals;
/**
* Multicopter attitude control app start / stop handling function
*/
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>, public ModuleParams,
public px4::WorkItem
{
public:
MulticopterAttitudeControl(bool vtol = false);
~MulticopterAttitudeControl() 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();
float throttle_curve(float throttle_stick_input);
/**
* Generate & publish an attitude setpoint from stick inputs
*/
void generate_attitude_setpoint(const matrix::Quatf &q, float dt, bool reset_yaw_sp);
AttitudeControl _attitude_control; ///< class for attitude control calculations
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};
uORB::Publication<vehicle_rates_setpoint_s> _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)}; /**< rate setpoint publication */
uORB::Publication<vehicle_attitude_setpoint_s> _vehicle_attitude_setpoint_pub;
struct manual_control_setpoint_s _manual_control_setpoint {}; /**< manual control setpoint */
struct vehicle_control_mode_s _v_control_mode {}; /**< vehicle control mode */
perf_counter_t _loop_perf; /**< loop duration performance counter */
matrix::Vector3f _thrust_setpoint_body; ///< body frame 3D thrust vector
float _man_yaw_sp{0.f}; /**< current yaw setpoint in manual mode */
float _man_tilt_max; /**< maximum tilt allowed for manual flight [rad] */
AlphaFilter<float> _man_x_input_filter;
AlphaFilter<float> _man_y_input_filter;
hrt_abstime _last_run{0};
bool _landed{true};
bool _reset_yaw_sp{true};
bool _vehicle_type_rotary_wing{true};
bool _vtol{false};
bool _vtol_tailsitter{false};
bool _vtol_in_transition_mode{false};
uint8_t _quat_reset_counter{0};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MC_ROLL_P>) _param_mc_roll_p,
(ParamFloat<px4::params::MC_PITCH_P>) _param_mc_pitch_p,
(ParamFloat<px4::params::MC_YAW_P>) _param_mc_yaw_p,
(ParamFloat<px4::params::MC_YAW_WEIGHT>) _param_mc_yaw_weight,
(ParamFloat<px4::params::MC_ROLLRATE_MAX>) _param_mc_rollrate_max,
(ParamFloat<px4::params::MC_PITCHRATE_MAX>) _param_mc_pitchrate_max,
(ParamFloat<px4::params::MC_YAWRATE_MAX>) _param_mc_yawrate_max,
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max, /**< scaling factor from stick to yaw rate */
/* Stabilized mode params */
(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max, /**< maximum tilt allowed for manual flight */
(ParamFloat<px4::params::MPC_MANTHR_MIN>) _param_mpc_manthr_min, /**< minimum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max, /**< maximum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_HOVER>)
_param_mpc_thr_hover, /**< throttle at which vehicle is at hover equilibrium */
(ParamInt<px4::params::MPC_THR_CURVE>) _param_mpc_thr_curve, /**< throttle curve behavior */
(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,
(ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau
)
};