/**This gets all current values and writes them to min or max
*/
uint8_t get_value_s(void)
{
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
uint8_t i;
for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
//see if the value is bigger or smaller than 1500 (roughly neutral)
//and write to the appropriate array
if (global_data_rc_channels->chan[i].raw != 0 &&
global_data_rc_channels->chan[i].raw < 1500) {
min_values_servo[i] = global_data_rc_channels->chan[i].raw;
} else if (global_data_rc_channels->chan[i].raw != 0 &&
global_data_rc_channels->chan[i].raw > 1500) {
max_values_servo[i] = global_data_rc_channels->chan[i].raw;
} else {
max_values_servo[i] = 0;
min_values_servo[i] = 0;
}
}
global_data_unlock(&global_data_rc_channels->access_conf);
return 0;
} else
return -1;
}
static void *heartbeatloop(void * arg)
{
/* initialize waypoint manager */
mavlink_wpm_init(&wpm);
/* initialize parameter storage */
mavlink_pm_reset_params(&pm);
int lowspeed_counter = 0;
int result_sys_status_trylock;
while(1) {
// sleep
usleep(50000);
// 1 Hz
if (lowspeed_counter == 10)
{
/* Send heartbeat */
mavlink_msg_heartbeat_send(chan,system_type,MAV_AUTOPILOT_GENERIC,MAV_MODE_PREFLIGHT,custom_mode,MAV_STATE_UNINIT);
/* Send status */
result_sys_status_trylock = global_data_trylock(&global_data_sys_status.access_conf);
if(0 == result_sys_status_trylock) mavlink_msg_sys_status_send(chan, global_data_sys_status.onboard_control_sensors_present, global_data_sys_status.onboard_control_sensors_enabled, global_data_sys_status.onboard_control_sensors_health, global_data_sys_status.load, global_data_sys_status.voltage_battery, global_data_sys_status.current_battery, global_data_sys_status.battery_remaining, global_data_sys_status.drop_rate_comm, global_data_sys_status.errors_comm, global_data_sys_status.errors_count1, global_data_sys_status.errors_count2, global_data_sys_status.errors_count3, global_data_sys_status.errors_count4);
global_data_unlock(&global_data_sys_status.access_conf);
if (!(mavlink_system.mode & MAV_MODE_FLAG_SAFETY_ARMED)) {
// System is not armed, blink at 1 Hz
led_toggle(LED_BLUE);
}
lowspeed_counter = 0;
}
lowspeed_counter++;
// Send one parameter
mavlink_pm_queued_send();
if (mavlink_system.mode & MAV_MODE_FLAG_SAFETY_ARMED) {
// System is armed, blink at 10 Hz
led_toggle(LED_BLUE);
}
usleep(50000);
}
}
/**This sets the middle values
*/
uint8_t set_mid_s(void)
{
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
uint8_t i;
for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
if (i == global_data_rc_channels->function[ROLL] ||
i == global_data_rc_channels->function[YAW] ||
i == global_data_rc_channels->function[PITCH]) {
mid_values_servo[i] = global_data_rc_channels->chan[i].raw;
} else {
mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2;
}
}
global_data_unlock(&global_data_rc_channels->access_conf);
return 0;
} else
return -1;
}
void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp)
{
static PID_t distance_controller;
static int read_ret;
static global_data_position_t position_estimated;
static uint16_t counter;
static bool initialized;
static uint16_t pm_counter;
static float lat_next;
static float lon_next;
static float pitch_current;
static float thrust_total;
if (initialized == false) {
pid_init(&distance_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
PID_MODE_DERIVATIV_CALC, 150);//150
// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
thrust_total = 0.0f;
/* Position initialization */
/* Wait for new position estimate */
do {
read_ret = read_lock_position(&position_estimated);
} while (read_ret != 0);
lat_next = position_estimated.lat;
lon_next = position_estimated.lon;
/* attitude initialization */
global_data_lock(&global_data_attitude->access_conf);
pitch_current = global_data_attitude->pitch;
global_data_unlock(&global_data_attitude->access_conf);
initialized = true;
}
/* load new parameters with 10Hz */
if (counter % 50 == 0) {
if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
/* check whether new parameters are available */
if (global_data_parameter_storage->counter > pm_counter) {
pid_set_parameters(&distance_controller,
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);
//
// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
pm_counter = global_data_parameter_storage->counter;
printf("Position controller changed pid parameters\n");
}
}
global_data_unlock(&global_data_parameter_storage->access_conf);
}
/* Wait for new position estimate */
do {
read_ret = read_lock_position(&position_estimated);
} while (read_ret != 0);
/* Get next waypoint */ //TODO: add local copy
if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
lat_next = global_data_position_setpoint->x;
lon_next = global_data_position_setpoint->y;
global_data_unlock(&global_data_position_setpoint->access_conf);
}
/* Get distance to waypoint */
float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
// if(counter % 5 == 0)
// printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
/* Get bearing to waypoint (direction on earth surface to next waypoint) */
float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);
if (counter % 5 == 0)
printf("bearing: %.4f\n", bearing);
/* Calculate speed in direction of bearing (needed for controller) */
float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy);
// if(counter % 5 == 0)
// printf("speed_norm: %.4f\n", speed_norm);
float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
/* Control Thrust in bearing direction */
float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
// if(counter % 5 == 0)
// printf("horizontal thrust: %.4f\n", horizontal_thrust);
/* Get total thrust (from remote for now) */
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum?
global_data_unlock(&global_data_rc_channels->access_conf);
}
const float max_gas = 500.0f;
thrust_total *= max_gas / 20000.0f; //TODO: check this
thrust_total += max_gas / 2.0f;
if (horizontal_thrust > thrust_total) {
horizontal_thrust = thrust_total;
} else if (horizontal_thrust < -thrust_total) {
horizontal_thrust = -thrust_total;
}
//TODO: maybe we want to add a speed controller later...
/* Calclulate thrust in east and north direction */
float thrust_north = cosf(bearing) * horizontal_thrust;
float thrust_east = sinf(bearing) * horizontal_thrust;
if (counter % 10 == 0) {
printf("thrust north: %.4f\n", thrust_north);
printf("thrust east: %.4f\n", thrust_east);
fflush(stdout);
}
/* Get current attitude */
if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
pitch_current = global_data_attitude->pitch;
global_data_unlock(&global_data_attitude->access_conf);
}
/* Get desired pitch & roll */
float pitch_desired = 0.0f;
float roll_desired = 0.0f;
if (thrust_total != 0) {
float pitch_fraction = -thrust_north / thrust_total;
float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);
if (roll_fraction < -1) {
roll_fraction = -1;
} else if (roll_fraction > 1) {
roll_fraction = 1;
}
// if(counter % 5 == 0)
// {
// printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
// fflush(stdout);
// }
pitch_desired = asinf(pitch_fraction);
roll_desired = asinf(roll_fraction);
}
att_sp.roll = roll_desired;
att_sp.pitch = pitch_desired;
counter++;
}
static void *control_loop(void *arg)
{
// Set thread name
prctl(1, "fixedwing_control attitude", getpid());
control_outputs.mode = HIL_MODE + 16;
control_outputs.nav_mode = 0;
while (1) {
/************************************
* Read global data structures here
************************************/
// Get parameters
get_parameters();
#define MUTE
#ifndef MUTE
///// DEBUG OUTPUT ////////
// printf("Throttle: \tChannel %i\t Value %i\n", global_data_rc_channels->function[THROTTLE], global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].scale);
// printf("Throttle_correct: \tChannel %i\t Value %i\n", THROTTLE, global_data_rc_channels->chan[THROTTLE].scale);
// printf("Override: Channel %i\t Value %i\n", global_data_rc_channels->function[OVERRIDE], global_data_rc_channels->chan[global_data_rc_channels->function[OVERRIDE]].scale);
// printf("Override_correct: \tChannel %i\t Value %i\n", OVERRIDE, global_data_rc_channels->chan[OVERRIDE].scale);
printf("Parameter: %i,%i,%i,%i,%i,%i,%i,%i,%i,%i,%i,%i \n", (int)plane_data.Kp_att, (int)plane_data.Ki_att,
(int)plane_data.Kd_att, (int)plane_data.intmax_att, (int)plane_data.Kp_pos, (int)plane_data.Ki_pos,
(int)plane_data.Kd_pos, (int)plane_data.intmax_pos, (int)plane_data.airspeed,
(int)plane_data.wp_x, (int)plane_data.wp_y, (int)plane_data.wp_z);
// printf("PITCH SETPOINT: %i\n", (int)plane_data.pitch_setpoint);
// printf("ROLL SETPOINT: %i\n", (int)plane_data.roll_setpoint);
// printf("THROTTLE SETPOINT: %i\n", (int)calc_throttle_setpoint());
printf("\n\nVx: %i\t Vy: %i\t Current speed:%i\n\n", (int)plane_data.vx, (int)plane_data.vy, (int)(calc_gnd_speed()));
printf("Current Altitude: %i\n\n", (int)plane_data.alt);
printf("\nAttitude values: \n R:%i \n P: %i \n Y: %i \n\n RS: %i \n PS: %i \n YS: %i \n ",
(int)(1000 * plane_data.roll), (int)(1000 * plane_data.pitch), (int)(1000 * plane_data.yaw),
(int)(1000 * plane_data.rollspeed), (int)(1000 * plane_data.pitchspeed), (int)(1000 * plane_data.yawspeed));
printf("\nBody Rates: \n P: %i \n Q: %i \n R: %i \n",
(int)(10000 * plane_data.p), (int)(10000 * plane_data.q), (int)(10000 * plane_data.r));
printf("\nCalculated outputs: \n R: %i\n P: %i\n Y: %i\n T: %i \n",
(int)(10000 * control_outputs.roll_ailerons), (int)(10000 * control_outputs.pitch_elevator),
(int)(10000 * control_outputs.yaw_rudder), (int)(10000 * control_outputs.throttle));
// printf("\nGlobal attitude outputs \n, %i\n%i\n%i\n", global_data_fixedwing_control->attitude_control_output[ROLL],
// global_data_fixedwing_control->attitude_control_output[PITCH], global_data_fixedwing_control->attitude_control_output[THROTTLE]);
///////////////////////////
#endif
// position values
if (global_data_trylock(&global_pos.access_conf) == 0) {
plane_data.lat = global_pos.lat / 10000000;
plane_data.lon = global_pos.lon / 10000000;
plane_data.alt = global_pos.alt / 1000;
plane_data.vx = global_pos.vx / 100;
plane_data.vy = global_pos.vy / 100;
plane_data.vz = global_pos.vz / 100;
}
global_data_unlock(&global_pos.access_conf);
// attitude values
if (global_data_trylock(&att.access_conf) == 0) {
plane_data.roll = att.roll;
plane_data.pitch = att.pitch;
plane_data.yaw = att.yaw;
plane_data.hdg = att.yaw - 180;
plane_data.rollspeed = att.rollspeed;
plane_data.pitchspeed = att.pitchspeed;
plane_data.yawspeed = att.yawspeed;
}
global_data_unlock(&att.access_conf);
// Set plane mode
set_plane_mode();
// Calculate the P,Q,R body rates of the aircraft
calc_body_angular_rates(plane_data.roll / RAD2DEG, plane_data.pitch / RAD2DEG, plane_data.yaw / RAD2DEG,
plane_data.rollspeed, plane_data.pitchspeed, plane_data.yawspeed);
// Calculate the body frame angles of the aircraft
//calc_bodyframe_angles(plane_data.roll/RAD2DEG,plane_data.pitch/RAD2DEG,plane_data.yaw/RAD2DEG);
// Calculate the output values
control_outputs.roll_ailerons = calc_roll_ail();
control_outputs.pitch_elevator = calc_pitch_elev();
//control_outputs.yaw_rudder = calc_yaw_rudder();
control_outputs.throttle = calc_throttle();
/*******************************************
* Send data to global data structure
******************************************/
if (global_data_rc_channels->chan[global_data_rc_channels->function[OVERRIDE]].scale < MANUAL) { // if we're flying in automated mode
if (plane_data.mode == TAKEOFF) {
global_data_fixedwing_control->attitude_control_output[ROLL] = 0;
global_data_fixedwing_control->attitude_control_output[PITCH] = 5000;
global_data_fixedwing_control->attitude_control_output[THROTTLE] = 10000;
//global_data_fixedwing_control->attitude_control_output[YAW] = (int16_t)(control_outputs.yaw_rudder);
}
if (plane_data.mode == CRUISE) {
global_data_fixedwing_control->attitude_control_output[ROLL] = (int16_t)(10000 * control_outputs.roll_ailerons);
global_data_fixedwing_control->attitude_control_output[PITCH] = (int16_t)(10000 * control_outputs.pitch_elevator);
global_data_fixedwing_control->attitude_control_output[THROTTLE] = (int16_t)(10000 * control_outputs.throttle);
//global_data_fixedwing_control->attitude_control_output[YAW] = (int16_t)(control_outputs.yaw_rudder);
}
global_data_fixedwing_control->counter++;
global_data_fixedwing_control->timestamp = hrt_absolute_time();
#error Either publish here or above, not at two locations
orb_publish()
}
// 20 Hz loop
usleep(100000);
}
return NULL;
}
