/**
* Attitude controller.
* Input: 'vehicle_attitude_setpoint' topics (depending on mode)
* Output: '_rates_sp' vector, '_thrust_sp'
*/
void
MulticopterAttitudeControl::control_attitude(float dt)
{
vehicle_attitude_setpoint_poll();
_thrust_sp = _v_att_sp.thrust;
/* construct attitude setpoint rotation matrix */
math::Matrix<3, 3> R_sp;
R_sp.set(_v_att_sp.R_body);
/* get current rotation matrix from control state quaternions */
math::Quaternion q_att(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
math::Matrix<3, 3> R = q_att.to_dcm();
/* all input data is ready, run controller itself */
/* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2));
math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
/* axis and sin(angle) of desired rotation */
math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z);
/* calculate angle error */
float e_R_z_sin = e_R.length();
float e_R_z_cos = R_z * R_sp_z;
/* calculate weight for yaw control */
float yaw_w = R_sp(2, 2) * R_sp(2, 2);
/* calculate rotation matrix after roll/pitch only rotation */
math::Matrix<3, 3> R_rp;
if (e_R_z_sin > 0.0f) {
/* get axis-angle representation */
float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos);
math::Vector<3> e_R_z_axis = e_R / e_R_z_sin;
e_R = e_R_z_axis * e_R_z_angle;
/* cross product matrix for e_R_axis */
math::Matrix<3, 3> e_R_cp;
e_R_cp.zero();
e_R_cp(0, 1) = -e_R_z_axis(2);
e_R_cp(0, 2) = e_R_z_axis(1);
e_R_cp(1, 0) = e_R_z_axis(2);
e_R_cp(1, 2) = -e_R_z_axis(0);
e_R_cp(2, 0) = -e_R_z_axis(1);
e_R_cp(2, 1) = e_R_z_axis(0);
/* rotation matrix for roll/pitch only rotation */
R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
} else {
/* zero roll/pitch rotation */
R_rp = R;
}
/* R_rp and R_sp has the same Z axis, calculate yaw error */
math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
if (e_R_z_cos < 0.0f) {
/* for large thrust vector rotations use another rotation method:
* calculate angle and axis for R -> R_sp rotation directly */
math::Quaternion q;
q.from_dcm(R.transposed() * R_sp);
math::Vector<3> e_R_d = q.imag();
e_R_d.normalize();
e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0));
/* use fusion of Z axis based rotation and direct rotation */
float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;
e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w;
}
/* calculate angular rates setpoint */
_rates_sp = _params.att_p.emult(e_R);
/* 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));
}
/* feed forward yaw setpoint rate */
_rates_sp(2) += _v_att_sp.yaw_sp_move_rate * yaw_w * _params.yaw_ff;
}
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;
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
float roll_tc, pitch_tc;
param_get(_params_handles.roll_tc, &roll_tc);
param_get(_params_handles.pitch_tc, &pitch_tc);
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_ff, &v);
_params.rate_ff(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_ff, &v);
_params.rate_ff(1) = v;
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_rate_ff, &v);
_params.rate_ff(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
/* angular rate limits */
param_get(_params_handles.roll_rate_max, &_params.roll_rate_max);
_params.mc_rate_max(0) = math::radians(_params.roll_rate_max);
param_get(_params_handles.pitch_rate_max, &_params.pitch_rate_max);
_params.mc_rate_max(1) = math::radians(_params.pitch_rate_max);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.mc_rate_max(2) = math::radians(_params.yaw_rate_max);
/* manual rate control scale and auto mode roll/pitch rate limits */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
/* stick deflection needed in rattitude mode to control rates not angles */
param_get(_params_handles.rattitude_thres, &_params.rattitude_thres);
param_get(_params_handles.vtol_type, &_params.vtol_type);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
return OK;
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v;
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v;
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v;
param_get(_params_handles.roll_rate_ff, &v);
_params.rate_ff(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v;
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v;
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v;
param_get(_params_handles.pitch_rate_ff, &v);
_params.rate_ff(1) = v;
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_rate_ff, &v);
_params.rate_ff(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
/* angular rate limits */
param_get(_params_handles.roll_rate_max, &_params.roll_rate_max);
_params.mc_rate_max(0) = math::radians(_params.roll_rate_max);
param_get(_params_handles.pitch_rate_max, &_params.pitch_rate_max);
_params.mc_rate_max(1) = math::radians(_params.pitch_rate_max);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.mc_rate_max(2) = math::radians(_params.yaw_rate_max);
/* manual attitude control scale */
param_get(_params_handles.man_roll_max, &_params.man_roll_max);
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
/* manual rate control scale and auto mode roll/pitch rate limits */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
return OK;
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
float roll_tc, pitch_tc;
param_get(_params_handles.roll_tc, &roll_tc);
param_get(_params_handles.pitch_tc, &pitch_tc);
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_ff, &v);
_params.rate_ff(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_ff, &v);
_params.rate_ff(1) = v;
/* pitch/roll P gains, throttle dependent */
param_get(_params_handles.pitchroll_rate_p10, &v);
for (int i=0; i<2; i++) _params.pitchroll_rate_p(i) = v;
param_get(_params_handles.pitchroll_rate_p20, &v);
_params.pitchroll_rate_p(2) = v;
param_get(_params_handles.pitchroll_rate_p30, &v);
_params.pitchroll_rate_p(3) = v;
param_get(_params_handles.pitchroll_rate_p40, &v);
_params.pitchroll_rate_p(4) = v;
param_get(_params_handles.pitchroll_rate_p50, &v);
_params.pitchroll_rate_p(5) = v;
param_get(_params_handles.pitchroll_rate_p60, &v);
_params.pitchroll_rate_p(6) = v;
param_get(_params_handles.pitchroll_rate_p70, &v);
_params.pitchroll_rate_p(7) = v;
param_get(_params_handles.pitchroll_rate_p80, &v);
_params.pitchroll_rate_p(8) = v;
param_get(_params_handles.pitchroll_rate_p90, &v);
_params.pitchroll_rate_p(9) = v;
_params.pitchroll_rate_p(10) = v;
/* pitch/roll D gains, throttle dependent */
param_get(_params_handles.pitchroll_rate_d10, &v);
for (int i=0; i<2; i++) _params.pitchroll_rate_d(i) = v;
param_get(_params_handles.pitchroll_rate_d20, &v);
_params.pitchroll_rate_d(2) = v;
param_get(_params_handles.pitchroll_rate_d30, &v);
_params.pitchroll_rate_d(3) = v;
param_get(_params_handles.pitchroll_rate_d40, &v);
_params.pitchroll_rate_d(4) = v;
param_get(_params_handles.pitchroll_rate_d50, &v);
_params.pitchroll_rate_d(5) = v;
param_get(_params_handles.pitchroll_rate_d60, &v);
_params.pitchroll_rate_d(6) = v;
param_get(_params_handles.pitchroll_rate_d70, &v);
_params.pitchroll_rate_d(7) = v;
param_get(_params_handles.pitchroll_rate_d80, &v);
_params.pitchroll_rate_d(8) = v;
param_get(_params_handles.pitchroll_rate_d90, &v);
_params.pitchroll_rate_d(9) = v;
_params.pitchroll_rate_d(10) = v;
/* Pulse switch data */
int i;
param_get(_params_handles.pulse_channel, &i);
_params.pulse_channel = i;
param_get(_params_handles.pulse_channel_threshold, &v);
_params.pulse_channel_threshold = v;
/*Pitch array scale factor*/
param_get(_params_handles.pitch_scale_factor, &v);
_params.pitch_scale = v;
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_rate_ff, &v);
_params.rate_ff(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
/* angular rate limits */
param_get(_params_handles.roll_rate_max, &_params.roll_rate_max);
_params.mc_rate_max(0) = math::radians(_params.roll_rate_max);
param_get(_params_handles.pitch_rate_max, &_params.pitch_rate_max);
_params.mc_rate_max(1) = math::radians(_params.pitch_rate_max);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.mc_rate_max(2) = math::radians(_params.yaw_rate_max);
/* manual rate control scale and auto mode roll/pitch rate limits */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
/* stick deflection needed in rattitude mode to control rates not angles */
param_get(_params_handles.rattitude_thres, &_params.rattitude_thres);
param_get(_params_handles.vtol_type, &_params.vtol_type);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
return OK;
}
/**
* Attitude controller.
* Input: 'vehicle_attitude_setpoint' topics (depending on mode)
* Output: '_rates_sp' vector, '_thrust_sp'
*/
void
MulticopterAttitudeControl::control_attitude(float dt)
{
vehicle_attitude_setpoint_poll();
_thrust_sp = _v_att_sp.thrust;
/* construct attitude setpoint rotation matrix */
math::Quaternion q_sp(_v_att_sp.q_d[0], _v_att_sp.q_d[1], _v_att_sp.q_d[2], _v_att_sp.q_d[3]);
math::Matrix<3, 3> R_sp = q_sp.to_dcm();
/* get current rotation matrix from control state quaternions */
math::Quaternion q_att(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
math::Matrix<3, 3> R = q_att.to_dcm();
/* all input data is ready, run controller itself */
/* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2));
math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
/* axis and sin(angle) of desired rotation */
math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z);
/* calculate angle error */
float e_R_z_sin = e_R.length();
float e_R_z_cos = R_z * R_sp_z;
/* calculate weight for yaw control */
float yaw_w = R_sp(2, 2) * R_sp(2, 2);
/* calculate rotation matrix after roll/pitch only rotation */
math::Matrix<3, 3> R_rp;
if (e_R_z_sin > 0.0f) {
/* get axis-angle representation */
float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos);
math::Vector<3> e_R_z_axis = e_R / e_R_z_sin;
e_R = e_R_z_axis * e_R_z_angle;
/* cross product matrix for e_R_axis */
math::Matrix<3, 3> e_R_cp;
e_R_cp.zero();
e_R_cp(0, 1) = -e_R_z_axis(2);
e_R_cp(0, 2) = e_R_z_axis(1);
e_R_cp(1, 0) = e_R_z_axis(2);
e_R_cp(1, 2) = -e_R_z_axis(0);
e_R_cp(2, 0) = -e_R_z_axis(1);
e_R_cp(2, 1) = e_R_z_axis(0);
/* rotation matrix for roll/pitch only rotation */
R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
} else {
/* zero roll/pitch rotation */
R_rp = R;
}
/* R_rp and R_sp has the same Z axis, calculate yaw error */
math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
if (e_R_z_cos < 0.0f) {
/* for large thrust vector rotations use another rotation method:
* calculate angle and axis for R -> R_sp rotation directly */
math::Quaternion q_error;
q_error.from_dcm(R.transposed() * R_sp);
math::Vector<3> e_R_d = q_error(0) >= 0.0f ? q_error.imag() * 2.0f : -q_error.imag() * 2.0f;
/* use fusion of Z axis based rotation and direct rotation */
float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;
e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w;
}
/* calculate angular rates setpoint */
_rates_sp = _params.att_p.emult(e_R);
/* limit rates */
for (int i = 0; i < 3; i++) {
if ((_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_auto_enabled) &&
!_v_control_mode.flag_control_manual_enabled) {
_rates_sp(i) = math::constrain(_rates_sp(i), -_params.auto_rate_max(i), _params.auto_rate_max(i));
} else {
_rates_sp(i) = math::constrain(_rates_sp(i), -_params.mc_rate_max(i), _params.mc_rate_max(i));
}
}
/* feed forward yaw setpoint rate */
_rates_sp(2) += _v_att_sp.yaw_sp_move_rate * yaw_w * _params.yaw_ff;
/* weather-vane mode, dampen yaw rate */
if ((_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_auto_enabled) &&
_v_att_sp.disable_mc_yaw_control == true && !_v_control_mode.flag_control_manual_enabled) {
float wv_yaw_rate_max = _params.auto_rate_max(2) * _params.vtol_wv_yaw_rate_scale;
_rates_sp(2) = math::constrain(_rates_sp(2), -wv_yaw_rate_max, wv_yaw_rate_max);
// prevent integrator winding up in weathervane mode
_rates_int(2) = 0.0f;
}
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
float roll_tc, pitch_tc;
param_get(_params_handles.roll_tc, &roll_tc);
param_get(_params_handles.pitch_tc, &pitch_tc);
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_integ_lim, &v);
_params.rate_int_lim(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_ff, &v);
_params.rate_ff(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_integ_lim, &v);
_params.rate_int_lim(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_ff, &v);
_params.rate_ff(1) = v;
param_get(_params_handles.tpa_breakpoint_p, &_params.tpa_breakpoint_p);
param_get(_params_handles.tpa_breakpoint_i, &_params.tpa_breakpoint_i);
param_get(_params_handles.tpa_breakpoint_d, &_params.tpa_breakpoint_d);
param_get(_params_handles.tpa_rate_p, &_params.tpa_rate_p);
param_get(_params_handles.tpa_rate_i, &_params.tpa_rate_i);
param_get(_params_handles.tpa_rate_d, &_params.tpa_rate_d);
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_integ_lim, &v);
_params.rate_int_lim(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_rate_ff, &v);
_params.rate_ff(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
/* angular rate limits */
param_get(_params_handles.roll_rate_max, &_params.roll_rate_max);
_params.mc_rate_max(0) = math::radians(_params.roll_rate_max);
param_get(_params_handles.pitch_rate_max, &_params.pitch_rate_max);
_params.mc_rate_max(1) = math::radians(_params.pitch_rate_max);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.mc_rate_max(2) = math::radians(_params.yaw_rate_max);
/* auto angular rate limits */
param_get(_params_handles.roll_rate_max, &_params.roll_rate_max);
_params.auto_rate_max(0) = math::radians(_params.roll_rate_max);
param_get(_params_handles.pitch_rate_max, &_params.pitch_rate_max);
_params.auto_rate_max(1) = math::radians(_params.pitch_rate_max);
param_get(_params_handles.yaw_auto_max, &_params.yaw_auto_max);
_params.auto_rate_max(2) = math::radians(_params.yaw_auto_max);
/* manual rate control scale and auto mode roll/pitch rate limits */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
/* stick deflection needed in rattitude mode to control rates not angles */
param_get(_params_handles.rattitude_thres, &_params.rattitude_thres);
param_get(_params_handles.vtol_type, &_params.vtol_type);
int tmp;
param_get(_params_handles.vtol_opt_recovery_enabled, &tmp);
_params.vtol_opt_recovery_enabled = (bool)tmp;
param_get(_params_handles.vtol_wv_yaw_rate_scale, &_params.vtol_wv_yaw_rate_scale);
param_get(_params_handles.bat_scale_en, &_params.bat_scale_en);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
/* rotation of the autopilot relative to the body */
param_get(_params_handles.board_rotation, &(_params.board_rotation));
/* fine adjustment of the rotation */
param_get(_params_handles.board_offset[0], &(_params.board_offset[0]));
param_get(_params_handles.board_offset[1], &(_params.board_offset[1]));
param_get(_params_handles.board_offset[2], &(_params.board_offset[2]));
return OK;
}
