void
MulticopterAttitudeControl::task_main()
{
/*
* do subscriptions
*/
_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_motor_limits_sub = orb_subscribe(ORB_ID(multirotor_motor_limits));
/* initialize parameters cache */
parameters_update();
/* wakeup source: vehicle attitude */
px4_pollfd_struct_t fds[1];
fds[0].fd = _ctrl_state_sub;
fds[0].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(100000);
continue;
}
perf_begin(_loop_perf);
/* run controller on attitude changes */
if (fds[0].revents & POLLIN) {
static uint64_t last_run = 0;
float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too small (< 2ms) and too large (> 20ms) dt's */
if (dt < 0.002f) {
dt = 0.002f;
} else if (dt > 0.02f) {
dt = 0.02f;
}
/* copy attitude and control state topics */
orb_copy(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);
/* check for updates in other topics */
parameter_update_poll();
vehicle_control_mode_poll();
arming_status_poll();
vehicle_manual_poll();
vehicle_status_poll();
vehicle_motor_limits_poll();
/* Check if we are in rattitude mode and the pilot is above the threshold on pitch
* or roll (yaw can rotate 360 in normal att control). If both are true don't
* even bother running the attitude controllers */
if (_vehicle_status.main_state == vehicle_status_s::MAIN_STATE_RATTITUDE) {
if (fabsf(_manual_control_sp.y) > _params.rattitude_thres ||
fabsf(_manual_control_sp.x) > _params.rattitude_thres) {
_v_control_mode.flag_control_attitude_enabled = false;
}
}
if (_v_control_mode.flag_control_attitude_enabled) {
if (_ts_opt_recovery == nullptr) {
// the tailsitter recovery instance has not been created, thus, the vehicle
// is not a tailsitter, do normal attitude control
control_attitude(dt);
} else {
vehicle_attitude_setpoint_poll();
_thrust_sp = _v_att_sp.thrust;
math::Quaternion q(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
math::Quaternion q_sp(&_v_att_sp.q_d[0]);
_ts_opt_recovery->setAttGains(_params.att_p, _params.yaw_ff);
_ts_opt_recovery->calcOptimalRates(q, q_sp, _v_att_sp.yaw_sp_move_rate, _rates_sp);
/* limit rates */
for (int i = 0; i < 3; i++) {
_rates_sp(i) = math::constrain(_rates_sp(i), -_params.mc_rate_max(i), _params.mc_rate_max(i));
}
}
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub != nullptr) {
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else if (_rates_sp_id) {
_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
}
//}
} else {
/* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
_manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = math::min(_manual_control_sp.z, MANUAL_THROTTLE_MAX_MULTICOPTER);
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub != nullptr) {
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else if (_rates_sp_id) {
_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
}
}
if (_v_control_mode.flag_control_rates_enabled) {
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.control[0] = (PX4_ISFINITE(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _ctrl_state.timestamp;
_controller_status.roll_rate_integ = _rates_int(0);
_controller_status.pitch_rate_integ = _rates_int(1);
_controller_status.yaw_rate_integ = _rates_int(2);
_controller_status.timestamp = hrt_absolute_time();
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub != nullptr) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
perf_end(_controller_latency_perf);
} else if (_actuators_id) {
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
}
}
/* publish controller status */
if (_controller_status_pub != nullptr) {
orb_publish(ORB_ID(mc_att_ctrl_status), _controller_status_pub, &_controller_status);
} else {
_controller_status_pub = orb_advertise(ORB_ID(mc_att_ctrl_status), &_controller_status);
}
}
}
perf_end(_loop_perf);
}
_control_task = -1;
return;
}
void
MulticopterAttitudeControl::task_main()
{
/*
* do subscriptions
*/
_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_motor_limits_sub = orb_subscribe(ORB_ID(multirotor_motor_limits));
/* initialize parameters cache */
parameters_update();
/* wakeup source: vehicle attitude */
px4_pollfd_struct_t fds[1];
fds[0].fd = _v_att_sub;
fds[0].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit */
if (pret == 0)
continue;
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(100000);
continue;
}
perf_begin(_loop_perf);
/* run controller on attitude changes */
if (fds[0].revents & POLLIN) {
static uint64_t last_run = 0;
float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too small (< 2ms) and too large (> 20ms) dt's */
if (dt < 0.002f) {
dt = 0.002f;
} else if (dt > 0.02f) {
dt = 0.02f;
}
/* copy attitude topic */
orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
/* check for updates in other topics */
parameter_update_poll();
vehicle_control_mode_poll();
arming_status_poll();
vehicle_manual_poll();
vehicle_status_poll();
vehicle_motor_limits_poll();
if (_v_control_mode.flag_control_attitude_enabled) {
control_attitude(dt);
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub != nullptr) {
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else if (_rates_sp_id) {
_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z;
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1);
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub != nullptr) {
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else if (_rates_sp_id) {
_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
}
} else {
/* attitude controller disabled, poll rates setpoint topic */
vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
}
}
if (_v_control_mode.flag_control_rates_enabled) {
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.control[0] = (PX4_ISFINITE(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _v_att.timestamp;
_controller_status.roll_rate_integ = _rates_int(0);
_controller_status.pitch_rate_integ = _rates_int(1);
_controller_status.yaw_rate_integ = _rates_int(2);
_controller_status.timestamp = hrt_absolute_time();
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub != nullptr) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
perf_end(_controller_latency_perf);
} else if (_actuators_id) {
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
}
}
/* publish controller status */
if(_controller_status_pub != nullptr) {
orb_publish(ORB_ID(mc_att_ctrl_status),_controller_status_pub, &_controller_status);
} else {
_controller_status_pub = orb_advertise(ORB_ID(mc_att_ctrl_status), &_controller_status);
}
}
}
perf_end(_loop_perf);
}
_control_task = -1;
return;
}
