void GpsFailure::on_active() { switch (_gpsf_state) { case GPSF_STATE_LOITER: { /* Position controller does not run in this mode: * navigator has to publish an attitude setpoint */ vehicle_attitude_setpoint_s att_sp = {}; att_sp.timestamp = hrt_absolute_time(); att_sp.roll_body = math::radians(_param_openlooploiter_roll.get()); att_sp.pitch_body = math::radians(_param_openlooploiter_pitch.get()); att_sp.thrust = _param_openlooploiter_thrust.get(); Quatf q(Eulerf(att_sp.roll_body, att_sp.pitch_body, 0.0f)); q.copyTo(att_sp.q_d); att_sp.q_d_valid = true; if (_att_sp_pub != nullptr) { /* publish att sp*/ orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp); } else { /* advertise and publish */ _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); } /* Measure time */ if ((_param_loitertime.get() > FLT_EPSILON) && (hrt_elapsed_time(&_timestamp_activation) > _param_loitertime.get() * 1e6f)) { /* no recovery, advance the state machine */ PX4_WARN("GPS not recovered, switching to next failure state"); advance_gpsf(); } break; } case GPSF_STATE_TERMINATE: set_gpsf_item(); advance_gpsf(); break; default: break; } }
void FixedwingAttitudeControl::task_main() { /* * do subscriptions */ _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); _att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); _vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected)); _battery_status_sub = orb_subscribe(ORB_ID(battery_status)); parameters_update(); /* get an initial update for all sensor and status data */ vehicle_setpoint_poll(); vehicle_control_mode_poll(); vehicle_manual_poll(); vehicle_status_poll(); vehicle_land_detected_poll(); battery_status_poll(); _sub_airspeed.update(); /* wakeup source */ px4_pollfd_struct_t fds[1]; /* Setup of loop */ fds[0].fd = _att_sub; fds[0].events = POLLIN; _task_running = true; while (!_task_should_exit) { static int loop_counter = 0; /* wait for up to 500ms for data */ int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); /* timed out - periodic check for _task_should_exit, etc. */ if (pret == 0) { continue; } /* this is undesirable but not much we can do - might want to flag unhappy status */ if (pret < 0) { PX4_WARN("poll error %d, %d", pret, errno); continue; } perf_begin(_loop_perf); /* only update parameters if they changed */ bool params_updated = false; orb_check(_params_sub, ¶ms_updated); if (params_updated) { /* read from param to clear updated flag */ parameter_update_s update; orb_copy(ORB_ID(parameter_update), _params_sub, &update); /* update parameters from storage */ parameters_update(); } /* only run controller if attitude changed */ if (fds[0].revents & POLLIN) { static uint64_t last_run = 0; float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; last_run = hrt_absolute_time(); /* guard against too large deltaT's */ if (deltaT > 1.0f) { deltaT = 0.01f; } /* load local copies */ orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); /* get current rotation matrix and euler angles from control state quaternions */ math::Quaternion q_att(_att.q[0], _att.q[1], _att.q[2], _att.q[3]); _R = q_att.to_dcm(); math::Vector<3> euler_angles; euler_angles = _R.to_euler(); _roll = euler_angles(0); _pitch = euler_angles(1); _yaw = euler_angles(2); if (_vehicle_status.is_vtol && _parameters.vtol_type == vtol_type::TAILSITTER) { /* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode * * Since the VTOL airframe is initialized as a multicopter we need to * modify the estimated attitude for the fixed wing operation. * Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around * the pitch axis compared to the neutral position of the vehicle in multicopter mode * we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix. * Additionally, in order to get the correct sign of the pitch, we need to multiply * the new x axis of the rotation matrix with -1 * * original: modified: * * Rxx Ryx Rzx -Rzx Ryx Rxx * Rxy Ryy Rzy -Rzy Ryy Rxy * Rxz Ryz Rzz -Rzz Ryz Rxz * */ math::Matrix<3, 3> R_adapted = _R; //modified rotation matrix /* move z to x */ R_adapted(0, 0) = _R(0, 2); R_adapted(1, 0) = _R(1, 2); R_adapted(2, 0) = _R(2, 2); /* move x to z */ R_adapted(0, 2) = _R(0, 0); R_adapted(1, 2) = _R(1, 0); R_adapted(2, 2) = _R(2, 0); /* change direction of pitch (convert to right handed system) */ R_adapted(0, 0) = -R_adapted(0, 0); R_adapted(1, 0) = -R_adapted(1, 0); R_adapted(2, 0) = -R_adapted(2, 0); euler_angles = R_adapted.to_euler(); //adapted euler angles for fixed wing operation /* fill in new attitude data */ _R = R_adapted; _roll = euler_angles(0); _pitch = euler_angles(1); _yaw = euler_angles(2); /* lastly, roll- and yawspeed have to be swaped */ float helper = _att.rollspeed; _att.rollspeed = -_att.yawspeed; _att.yawspeed = helper; } _sub_airspeed.update(); vehicle_setpoint_poll(); vehicle_control_mode_poll(); vehicle_manual_poll(); global_pos_poll(); vehicle_status_poll(); vehicle_land_detected_poll(); battery_status_poll(); // the position controller will not emit attitude setpoints in some modes // we need to make sure that this flag is reset _att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled; /* lock integrator until control is started */ bool lock_integrator = !(_vcontrol_mode.flag_control_rates_enabled && !_vehicle_status.is_rotary_wing); /* Simple handling of failsafe: deploy parachute if failsafe is on */ if (_vcontrol_mode.flag_control_termination_enabled) { _actuators_airframe.control[7] = 1.0f; //warnx("_actuators_airframe.control[1] = 1.0f;"); } else { _actuators_airframe.control[7] = 0.0f; //warnx("_actuators_airframe.control[1] = -1.0f;"); } /* if we are in rotary wing mode, do nothing */ if (_vehicle_status.is_rotary_wing && !_vehicle_status.is_vtol) { continue; } /* default flaps to center */ float flap_control = 0.0f; /* map flaps by default to manual if valid */ if (PX4_ISFINITE(_manual.flaps) && _vcontrol_mode.flag_control_manual_enabled && fabsf(_parameters.flaps_scale) > 0.01f) { flap_control = 0.5f * (_manual.flaps + 1.0f) * _parameters.flaps_scale; } else if (_vcontrol_mode.flag_control_auto_enabled && fabsf(_parameters.flaps_scale) > 0.01f) { flap_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaps_scale : 0.0f; } // move the actual control value continuous with time, full flap travel in 1sec if (fabsf(_flaps_applied - flap_control) > 0.01f) { _flaps_applied += (_flaps_applied - flap_control) < 0 ? deltaT : -deltaT; } else { _flaps_applied = flap_control; } /* default flaperon to center */ float flaperon_control = 0.0f; /* map flaperons by default to manual if valid */ if (PX4_ISFINITE(_manual.aux2) && _vcontrol_mode.flag_control_manual_enabled && fabsf(_parameters.flaperon_scale) > 0.01f) { flaperon_control = 0.5f * (_manual.aux2 + 1.0f) * _parameters.flaperon_scale; } else if (_vcontrol_mode.flag_control_auto_enabled && fabsf(_parameters.flaperon_scale) > 0.01f) { flaperon_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaperon_scale : 0.0f; } // move the actual control value continuous with time, full flap travel in 1sec if (fabsf(_flaperons_applied - flaperon_control) > 0.01f) { _flaperons_applied += (_flaperons_applied - flaperon_control) < 0 ? deltaT : -deltaT; } else { _flaperons_applied = flaperon_control; } // Check if we are in rattitude mode and the pilot is above the threshold on pitch if (_vcontrol_mode.flag_control_rattitude_enabled) { if (fabsf(_manual.y) > _parameters.rattitude_thres || fabsf(_manual.x) > _parameters.rattitude_thres) { _vcontrol_mode.flag_control_attitude_enabled = false; } } /* decide if in stabilized or full manual control */ if (_vcontrol_mode.flag_control_rates_enabled) { /* scale around tuning airspeed */ float airspeed; /* if airspeed is non-finite or not valid or if we are asked not to control it, we assume the normal average speed */ const bool airspeed_valid = PX4_ISFINITE(_sub_airspeed.get().indicated_airspeed_m_s) && ((_sub_airspeed.get().timestamp - hrt_absolute_time()) < 1e6); if (airspeed_valid) { /* prevent numerical drama by requiring 0.5 m/s minimal speed */ airspeed = math::max(0.5f, _sub_airspeed.get().indicated_airspeed_m_s); } else { airspeed = _parameters.airspeed_trim; perf_count(_nonfinite_input_perf); } /* * For scaling our actuators using anything less than the min (close to stall) * speed doesn't make any sense - its the strongest reasonable deflection we * want to do in flight and its the baseline a human pilot would choose. * * Forcing the scaling to this value allows reasonable handheld tests. */ float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed); /* Use min airspeed to calculate ground speed scaling region. * Don't scale below gspd_scaling_trim */ float groundspeed = sqrtf(_global_pos.vel_n * _global_pos.vel_n + _global_pos.vel_e * _global_pos.vel_e); float gspd_scaling_trim = (_parameters.airspeed_min * 0.6f); float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed); // in STABILIZED mode we need to generate the attitude setpoint // from manual user inputs if (!_vcontrol_mode.flag_control_climb_rate_enabled && !_vcontrol_mode.flag_control_offboard_enabled) { _att_sp.timestamp = hrt_absolute_time(); _att_sp.roll_body = _manual.y * _parameters.man_roll_max + _parameters.rollsp_offset_rad; _att_sp.roll_body = math::constrain(_att_sp.roll_body, -_parameters.man_roll_max, _parameters.man_roll_max); _att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max + _parameters.pitchsp_offset_rad; _att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max, _parameters.man_pitch_max); _att_sp.yaw_body = 0.0f; _att_sp.thrust = _manual.z; Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body)); q.copyTo(_att_sp.q_d); _att_sp.q_d_valid = true; int instance; orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT); } /* reset integrals where needed */ if (_att_sp.roll_reset_integral) { _roll_ctrl.reset_integrator(); } if (_att_sp.pitch_reset_integral) { _pitch_ctrl.reset_integrator(); } if (_att_sp.yaw_reset_integral) { _yaw_ctrl.reset_integrator(); _wheel_ctrl.reset_integrator(); } /* Reset integrators if the aircraft is on ground * or a multicopter (but not transitioning VTOL) */ if (_vehicle_land_detected.landed || (_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode)) { _roll_ctrl.reset_integrator(); _pitch_ctrl.reset_integrator(); _yaw_ctrl.reset_integrator(); _wheel_ctrl.reset_integrator(); } float roll_sp = _att_sp.roll_body; float pitch_sp = _att_sp.pitch_body; float yaw_sp = _att_sp.yaw_body; float throttle_sp = _att_sp.thrust; /* Prepare data for attitude controllers */ struct ECL_ControlData control_input = {}; control_input.roll = _roll; control_input.pitch = _pitch; control_input.yaw = _yaw; control_input.body_x_rate = _att.rollspeed; control_input.body_y_rate = _att.pitchspeed; control_input.body_z_rate = _att.yawspeed; control_input.roll_setpoint = roll_sp; control_input.pitch_setpoint = pitch_sp; control_input.yaw_setpoint = yaw_sp; control_input.airspeed_min = _parameters.airspeed_min; control_input.airspeed_max = _parameters.airspeed_max; control_input.airspeed = airspeed; control_input.scaler = airspeed_scaling; control_input.lock_integrator = lock_integrator; control_input.groundspeed = groundspeed; control_input.groundspeed_scaler = groundspeed_scaler; /* Run attitude controllers */ if (_vcontrol_mode.flag_control_attitude_enabled) { if (PX4_ISFINITE(roll_sp) && PX4_ISFINITE(pitch_sp)) { _roll_ctrl.control_attitude(control_input); _pitch_ctrl.control_attitude(control_input); _yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude _wheel_ctrl.control_attitude(control_input); /* Update input data for rate controllers */ control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate(); control_input.pitch_rate_setpoint = _pitch_ctrl.get_desired_rate(); control_input.yaw_rate_setpoint = _yaw_ctrl.get_desired_rate(); /* Run attitude RATE controllers which need the desired attitudes from above, add trim */ float roll_u = _roll_ctrl.control_euler_rate(control_input); _actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll; if (!PX4_ISFINITE(roll_u)) { _roll_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); if (_debug && loop_counter % 10 == 0) { warnx("roll_u %.4f", (double)roll_u); } } float pitch_u = _pitch_ctrl.control_euler_rate(control_input); _actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch; if (!PX4_ISFINITE(pitch_u)) { _pitch_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); if (_debug && loop_counter % 10 == 0) { warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f," " airspeed %.4f, airspeed_scaling %.4f," " roll_sp %.4f, pitch_sp %.4f," " _roll_ctrl.get_desired_rate() %.4f," " _pitch_ctrl.get_desired_rate() %.4f" " att_sp.roll_body %.4f", (double)pitch_u, (double)_yaw_ctrl.get_desired_rate(), (double)airspeed, (double)airspeed_scaling, (double)roll_sp, (double)pitch_sp, (double)_roll_ctrl.get_desired_rate(), (double)_pitch_ctrl.get_desired_rate(), (double)_att_sp.roll_body); } } float yaw_u = 0.0f; if (_parameters.w_en && _att_sp.fw_control_yaw) { yaw_u = _wheel_ctrl.control_bodyrate(control_input); } else { yaw_u = _yaw_ctrl.control_euler_rate(control_input); } _actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw; /* add in manual rudder control in manual modes */ if (_vcontrol_mode.flag_control_manual_enabled) { _actuators.control[actuator_controls_s::INDEX_YAW] += _manual.r; } if (!PX4_ISFINITE(yaw_u)) { _yaw_ctrl.reset_integrator(); _wheel_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); if (_debug && loop_counter % 10 == 0) { warnx("yaw_u %.4f", (double)yaw_u); } } /* throttle passed through if it is finite and if no engine failure was detected */ _actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) && !_vehicle_status.engine_failure) ? throttle_sp : 0.0f; /* scale effort by battery status */ if (_parameters.bat_scale_en && _battery_status.scale > 0.0f && _actuators.control[actuator_controls_s::INDEX_THROTTLE] > 0.1f) { _actuators.control[actuator_controls_s::INDEX_THROTTLE] *= _battery_status.scale; } if (!PX4_ISFINITE(throttle_sp)) { if (_debug && loop_counter % 10 == 0) { warnx("throttle_sp %.4f", (double)throttle_sp); } } } else { perf_count(_nonfinite_input_perf); if (_debug && loop_counter % 10 == 0) { warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp); } } } else { // pure rate control _roll_ctrl.set_bodyrate_setpoint(_manual.y * _parameters.acro_max_x_rate_rad); _pitch_ctrl.set_bodyrate_setpoint(-_manual.x * _parameters.acro_max_y_rate_rad); _yaw_ctrl.set_bodyrate_setpoint(_manual.r * _parameters.acro_max_z_rate_rad); float roll_u = _roll_ctrl.control_bodyrate(control_input); _actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll; float pitch_u = _pitch_ctrl.control_bodyrate(control_input); _actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch; float yaw_u = _yaw_ctrl.control_bodyrate(control_input); _actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw; _actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(throttle_sp) ? throttle_sp : 0.0f; } /* * Lazily publish the rate setpoint (for analysis, the actuators are published below) * only once available */ _rates_sp.roll = _roll_ctrl.get_desired_bodyrate(); _rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate(); _rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate(); _rates_sp.timestamp = hrt_absolute_time(); if (_rate_sp_pub != nullptr) { /* publish the attitude rates setpoint */ orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp); } else if (_rates_sp_id) { /* advertise the attitude rates setpoint */ _rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp); } rate_ctrl_status_s rate_ctrl_status; rate_ctrl_status.timestamp = hrt_absolute_time(); rate_ctrl_status.rollspeed = _att.rollspeed; rate_ctrl_status.pitchspeed = _att.pitchspeed; rate_ctrl_status.yawspeed = _att.yawspeed; rate_ctrl_status.rollspeed_integ = _roll_ctrl.get_integrator(); rate_ctrl_status.pitchspeed_integ = _pitch_ctrl.get_integrator(); rate_ctrl_status.yawspeed_integ = _yaw_ctrl.get_integrator(); rate_ctrl_status.additional_integ1 = _wheel_ctrl.get_integrator(); int instance; orb_publish_auto(ORB_ID(rate_ctrl_status), &_rate_ctrl_status_pub, &rate_ctrl_status, &instance, ORB_PRIO_DEFAULT); } else { /* manual/direct control */ _actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _parameters.man_roll_scale + _parameters.trim_roll; _actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _parameters.man_pitch_scale + _parameters.trim_pitch; _actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r * _parameters.man_yaw_scale + _parameters.trim_yaw; _actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z; } // Add feed-forward from roll control output to yaw control output // This can be used to counteract the adverse yaw effect when rolling the plane _actuators.control[actuator_controls_s::INDEX_YAW] += _parameters.roll_to_yaw_ff * math::constrain( _actuators.control[actuator_controls_s::INDEX_ROLL], -1.0f, 1.0f); _actuators.control[actuator_controls_s::INDEX_FLAPS] = _flaps_applied; _actuators.control[5] = _manual.aux1; _actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = _flaperons_applied; // FIXME: this should use _vcontrol_mode.landing_gear_pos in the future _actuators.control[7] = _manual.aux3; /* lazily publish the setpoint only once available */ _actuators.timestamp = hrt_absolute_time(); _actuators.timestamp_sample = _att.timestamp; _actuators_airframe.timestamp = hrt_absolute_time(); _actuators_airframe.timestamp_sample = _att.timestamp; /* Only publish if any of the proper modes are enabled */ if (_vcontrol_mode.flag_control_rates_enabled || _vcontrol_mode.flag_control_attitude_enabled || _vcontrol_mode.flag_control_manual_enabled) { /* publish the actuator controls */ if (_actuators_0_pub != nullptr) { orb_publish(_actuators_id, _actuators_0_pub, &_actuators); } else if (_actuators_id) { _actuators_0_pub = orb_advertise(_actuators_id, &_actuators); } if (_actuators_2_pub != nullptr) { /* publish the actuator controls*/ orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe); } else { /* advertise and publish */ _actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe); } } } loop_counter++; perf_end(_loop_perf); } warnx("exiting.\n"); _control_task = -1; _task_running = false; }
void GroundRoverPositionControl::task_main() { _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _ctrl_state_sub = orb_subscribe(ORB_ID(control_state)); _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); /* rate limit control mode updates to 5Hz */ orb_set_interval(_control_mode_sub, 200); /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); /* abort on a nonzero return value from the parameter init */ if (parameters_update()) { /* parameter setup went wrong, abort */ warnx("aborting startup due to errors."); _task_should_exit = true; } /* wakeup source(s) */ px4_pollfd_struct_t fds[2]; /* Setup of loop */ fds[0].fd = _params_sub; fds[0].events = POLLIN; fds[1].fd = _global_pos_sub; fds[1].events = POLLIN; _task_running = true; while (!_task_should_exit) { /* wait for up to 500ms for data */ int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); /* timed out - periodic check for _task_should_exit, etc. */ 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); continue; } /* check vehicle control mode for changes to publication state */ vehicle_control_mode_poll(); /* only update parameters if they changed */ if (fds[0].revents & POLLIN) { /* read from param to clear updated flag */ struct parameter_update_s update; orb_copy(ORB_ID(parameter_update), _params_sub, &update); /* update parameters from storage */ parameters_update(); } /* only run controller if position changed */ if (fds[1].revents & POLLIN) { perf_begin(_loop_perf); /* load local copies */ orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos); // handle estimator reset events. we only adjust setpoins for manual modes if (_control_mode.flag_control_manual_enabled) { // adjust navigation waypoints in position control mode if (_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_velocity_enabled && _global_pos.lat_lon_reset_counter != _pos_reset_counter) { } } // update the reset counters in any case _pos_reset_counter = _global_pos.lat_lon_reset_counter; control_state_poll(); manual_control_setpoint_poll(); position_setpoint_triplet_poll(); math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d); math::Vector<2> current_position((float)_global_pos.lat, (float)_global_pos.lon); /* * Attempt to control position, on success (= sensors present and not in manual mode), * publish setpoint. */ if (control_position(current_position, ground_speed, _pos_sp_triplet)) { _att_sp.timestamp = hrt_absolute_time(); Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body)); q.copyTo(_att_sp.q_d); _att_sp.q_d_valid = true; if (!_control_mode.flag_control_offboard_enabled || _control_mode.flag_control_position_enabled || _control_mode.flag_control_velocity_enabled || _control_mode.flag_control_acceleration_enabled) { /* lazily publish the setpoint only once available */ if (_attitude_sp_pub != nullptr) { /* publish the attitude setpoint */ orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &_att_sp); } else { /* advertise and publish */ _attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); } } /* XXX check if radius makes sense here */ float turn_distance = _parameters.l1_distance; //_gnd_control.switch_distance(100.0f); /* lazily publish navigation capabilities */ if ((hrt_elapsed_time(&_gnd_pos_ctrl_status.timestamp) > 1000000) || (fabsf(turn_distance - _gnd_pos_ctrl_status.turn_distance) > FLT_EPSILON && turn_distance > 0)) { /* set new turn distance */ _gnd_pos_ctrl_status.turn_distance = turn_distance; _gnd_pos_ctrl_status.nav_roll = _gnd_control.nav_roll(); _gnd_pos_ctrl_status.nav_pitch = 0.0f; _gnd_pos_ctrl_status.nav_bearing = _gnd_control.nav_bearing(); _gnd_pos_ctrl_status.target_bearing = _gnd_control.target_bearing(); _gnd_pos_ctrl_status.xtrack_error = _gnd_control.crosstrack_error(); math::Vector<2> curr_wp((float)_pos_sp_triplet.current.lat, (float)_pos_sp_triplet.current.lon); _gnd_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); gnd_pos_ctrl_status_publish(); } } perf_end(_loop_perf); } } _task_running = false; warnx("exiting.\n"); _control_task = -1; }