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FixedwingRateControl.cpp
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FixedwingRateControl.cpp
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/****************************************************************************
*
* Copyright (c) 2013-2023 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.
*
****************************************************************************/
#include "FixedwingRateControl.hpp"
using namespace time_literals;
using namespace matrix;
using math::constrain;
using math::interpolate;
using math::radians;
FixedwingRateControl::FixedwingRateControl(bool vtol) :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
_actuator_controls_status_pub(vtol ? ORB_ID(actuator_controls_status_1) : ORB_ID(actuator_controls_status_0)),
_vehicle_torque_setpoint_pub(vtol ? ORB_ID(vehicle_torque_setpoint_virtual_fw) : ORB_ID(vehicle_torque_setpoint)),
_vehicle_thrust_setpoint_pub(vtol ? ORB_ID(vehicle_thrust_setpoint_virtual_fw) : ORB_ID(vehicle_thrust_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
/* fetch initial parameter values */
parameters_update();
_rate_ctrl_status_pub.advertise();
}
FixedwingRateControl::~FixedwingRateControl()
{
perf_free(_loop_perf);
}
bool
FixedwingRateControl::init()
{
if (!_vehicle_angular_velocity_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
return true;
}
int
FixedwingRateControl::parameters_update()
{
const Vector3f rate_p = Vector3f(_param_fw_rr_p.get(), _param_fw_pr_p.get(), _param_fw_yr_p.get());
const Vector3f rate_i = Vector3f(_param_fw_rr_i.get(), _param_fw_pr_i.get(), _param_fw_yr_i.get());
const Vector3f rate_d = Vector3f(_param_fw_rr_d.get(), _param_fw_pr_d.get(), _param_fw_yr_d.get());
_rate_control.setGains(rate_p, rate_i, rate_d);
_rate_control.setIntegratorLimit(
Vector3f(_param_fw_rr_imax.get(), _param_fw_pr_imax.get(), _param_fw_yr_imax.get()));
_rate_control.setFeedForwardGain(
// set FF gains to 0 as we add the FF control outside of the rate controller
Vector3f(0.f, 0.f, 0.f));
return PX4_OK;
}
void
FixedwingRateControl::vehicle_manual_poll()
{
if (_vcontrol_mode.flag_control_manual_enabled && _in_fw_or_transition_wo_tailsitter_transition) {
// Always copy the new manual setpoint, even if it wasn't updated, to fill the actuators with valid values
if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) {
if (_vcontrol_mode.flag_control_rates_enabled &&
!_vcontrol_mode.flag_control_attitude_enabled) {
// RATE mode we need to generate the rate setpoint from manual user inputs
if (_vehicle_status.is_vtol_tailsitter && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
// the rate_sp must always be published in body (hover) frame
_rates_sp.roll = _manual_control_setpoint.yaw * radians(_param_fw_acro_z_max.get());
_rates_sp.yaw = -_manual_control_setpoint.roll * radians(_param_fw_acro_x_max.get());
} else {
_rates_sp.roll = _manual_control_setpoint.roll * radians(_param_fw_acro_x_max.get());
_rates_sp.yaw = _manual_control_setpoint.yaw * radians(_param_fw_acro_z_max.get());
}
_rates_sp.timestamp = hrt_absolute_time();
_rates_sp.pitch = -_manual_control_setpoint.pitch * radians(_param_fw_acro_y_max.get());
_rates_sp.thrust_body[0] = (_manual_control_setpoint.throttle + 1.f) * .5f;
_rate_sp_pub.publish(_rates_sp);
} else {
// Manual/direct control, filled in FW-frame. Note that setpoints will get transformed to body frame prior publishing.
_vehicle_torque_setpoint.xyz[0] = math::constrain(_manual_control_setpoint.roll * _param_fw_man_r_sc.get() +
_param_trim_roll.get(), -1.f, 1.f);
_vehicle_torque_setpoint.xyz[1] = math::constrain(-_manual_control_setpoint.pitch * _param_fw_man_p_sc.get() +
_param_trim_pitch.get(), -1.f, 1.f);
_vehicle_torque_setpoint.xyz[2] = math::constrain(_manual_control_setpoint.yaw * _param_fw_man_y_sc.get() +
_param_trim_yaw.get(), -1.f, 1.f);
_vehicle_thrust_setpoint.xyz[0] = math::constrain((_manual_control_setpoint.throttle + 1.f) * .5f, 0.f, 1.f);
}
}
}
}
void
FixedwingRateControl::vehicle_land_detected_poll()
{
if (_vehicle_land_detected_sub.updated()) {
vehicle_land_detected_s vehicle_land_detected {};
if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
_landed = vehicle_land_detected.landed;
}
}
}
float FixedwingRateControl::get_airspeed_and_update_scaling()
{
_airspeed_validated_sub.update();
const bool airspeed_valid = PX4_ISFINITE(_airspeed_validated_sub.get().calibrated_airspeed_m_s)
&& (hrt_elapsed_time(&_airspeed_validated_sub.get().timestamp) < 1_s);
// if no airspeed measurement is available out best guess is to use the trim airspeed
float airspeed = _param_fw_airspd_trim.get();
if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _airspeed_validated_sub.get().calibrated_airspeed_m_s);
} else {
// VTOL: if we have no airspeed available and we are in hover mode then assume the lowest airspeed possible
// this assumption is good as long as the vehicle is not hovering in a headwind which is much larger
// than the stall airspeed
if (_vehicle_status.is_vtol && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode) {
airspeed = _param_fw_airspd_stall.get();
}
}
/*
* For scaling our actuators using anything less than the stall
* speed doesn't make any sense - its the strongest reasonable deflection we
* want to do in flight and it's the baseline a human pilot would choose.
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
const float airspeed_constrained = constrain(constrain(airspeed, _param_fw_airspd_stall.get(),
_param_fw_airspd_max.get()), 0.1f, 1000.0f);
_airspeed_scaling = (_param_fw_arsp_scale_en.get()) ? (_param_fw_airspd_trim.get() / airspeed_constrained) : 1.0f;
return airspeed;
}
void FixedwingRateControl::Run()
{
if (should_exit()) {
_vehicle_angular_velocity_sub.unregisterCallback();
exit_and_cleanup();
return;
}
perf_begin(_loop_perf);
// only run controller if angular velocity changed
if (_vehicle_angular_velocity_sub.updated() || (hrt_elapsed_time(&_last_run) > 20_ms)) { //TODO rate!
// only update parameters if they changed
bool params_updated = _parameter_update_sub.updated();
// check for parameter updates
if (params_updated) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
updateParams();
parameters_update();
}
float dt = 0.f;
static constexpr float DT_MIN = 0.002f;
static constexpr float DT_MAX = 0.04f;
vehicle_angular_velocity_s vehicle_angular_velocity{};
if (_vehicle_angular_velocity_sub.copy(&vehicle_angular_velocity)) {
dt = math::constrain((vehicle_angular_velocity.timestamp_sample - _last_run) * 1e-6f, DT_MIN, DT_MAX);
_last_run = vehicle_angular_velocity.timestamp_sample;
}
if (dt < DT_MIN || dt > DT_MAX) {
const hrt_abstime time_now_us = hrt_absolute_time();
dt = math::constrain((time_now_us - _last_run) * 1e-6f, DT_MIN, DT_MAX);
_last_run = time_now_us;
}
vehicle_angular_velocity_s angular_velocity{};
_vehicle_angular_velocity_sub.copy(&angular_velocity);
Vector3f rates(angular_velocity.xyz);
Vector3f angular_accel{angular_velocity.xyz_derivative};
// Tailsitter: rotate setpoint from hover to fixed-wing frame (controller is in fixed-wing frame, interface in hover)
if (_vehicle_status.is_vtol_tailsitter) {
rates = Vector3f(-angular_velocity.xyz[2], angular_velocity.xyz[1], angular_velocity.xyz[0]);
angular_accel = Vector3f(-angular_velocity.xyz_derivative[2], angular_velocity.xyz_derivative[1],
angular_velocity.xyz_derivative[0]);
}
// vehicle status update must be before the vehicle_control_mode poll, otherwise rate sp are not published during whole transition
_vehicle_status_sub.update(&_vehicle_status);
const bool is_in_transition_except_tailsitter = _vehicle_status.in_transition_mode
&& !_vehicle_status.is_vtol_tailsitter;
const bool is_fixed_wing = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
_in_fw_or_transition_wo_tailsitter_transition = is_fixed_wing || is_in_transition_except_tailsitter;
_vehicle_control_mode_sub.update(&_vcontrol_mode);
vehicle_land_detected_poll();
vehicle_manual_poll();
vehicle_land_detected_poll();
/* if we are in rotary wing mode, do nothing */
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.is_vtol) {
perf_end(_loop_perf);
return;
}
if (_vcontrol_mode.flag_control_rates_enabled) {
const float airspeed = get_airspeed_and_update_scaling();
/* reset integrals where needed */
if (_rates_sp.reset_integral) {
_rate_control.resetIntegral();
}
// Reset integrators if the aircraft is on ground or not in a state where the fw attitude controller is run
if (_landed || !_in_fw_or_transition_wo_tailsitter_transition) {
_rate_control.resetIntegral();
}
// update saturation status from control allocation feedback
control_allocator_status_s control_allocator_status;
if (_control_allocator_status_subs[_vehicle_status.is_vtol ? 1 : 0].update(&control_allocator_status)) {
Vector<bool, 3> saturation_positive;
Vector<bool, 3> saturation_negative;
if (!control_allocator_status.torque_setpoint_achieved) {
for (size_t i = 0; i < 3; i++) {
if (control_allocator_status.unallocated_torque[i] > FLT_EPSILON) {
saturation_positive(i) = true;
} else if (control_allocator_status.unallocated_torque[i] < -FLT_EPSILON) {
saturation_negative(i) = true;
}
}
}
// TODO: send the unallocated value directly for better anti-windup
_rate_control.setSaturationStatus(saturation_positive, saturation_negative);
}
/* bi-linear interpolation over airspeed for actuator trim scheduling */
float trim_roll = _param_trim_roll.get();
float trim_pitch = _param_trim_pitch.get();
float trim_yaw = _param_trim_yaw.get();
if (airspeed < _param_fw_airspd_trim.get()) {
trim_roll += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
_param_fw_dtrim_r_vmin.get(),
0.0f);
trim_pitch += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
_param_fw_dtrim_p_vmin.get(),
0.0f);
trim_yaw += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
_param_fw_dtrim_y_vmin.get(),
0.0f);
} else {
trim_roll += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
_param_fw_dtrim_r_vmax.get());
trim_pitch += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
_param_fw_dtrim_p_vmax.get());
trim_yaw += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
_param_fw_dtrim_y_vmax.get());
}
if (_vcontrol_mode.flag_control_rates_enabled) {
_rates_sp_sub.update(&_rates_sp);
Vector3f body_rates_setpoint = Vector3f(_rates_sp.roll, _rates_sp.pitch, _rates_sp.yaw);
// Tailsitter: rotate setpoint from hover to fixed-wing frame (controller is in fixed-wing frame, interface in hover)
if (_vehicle_status.is_vtol_tailsitter) {
body_rates_setpoint = Vector3f(-_rates_sp.yaw, _rates_sp.pitch, _rates_sp.roll);
}
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
const Vector3f angular_acceleration_setpoint = _rate_control.update(rates, body_rates_setpoint, angular_accel, dt,
_landed);
float roll_feedforward = _param_fw_rr_ff.get() * _airspeed_scaling * body_rates_setpoint(0);
float roll_u = angular_acceleration_setpoint(0) * _airspeed_scaling * _airspeed_scaling + roll_feedforward;
_vehicle_torque_setpoint.xyz[0] = PX4_ISFINITE(roll_u) ? math::constrain(roll_u + trim_roll, -1.f, 1.f) : trim_roll;
float pitch_feedforward = _param_fw_pr_ff.get() * _airspeed_scaling * body_rates_setpoint(1);
float pitch_u = angular_acceleration_setpoint(1) * _airspeed_scaling * _airspeed_scaling + pitch_feedforward;
_vehicle_torque_setpoint.xyz[1] = PX4_ISFINITE(pitch_u) ? math::constrain(pitch_u + trim_pitch, -1.f, 1.f) : trim_pitch;
const float yaw_feedforward = _param_fw_yr_ff.get() * _airspeed_scaling * body_rates_setpoint(2);
float yaw_u = angular_acceleration_setpoint(2) * _airspeed_scaling * _airspeed_scaling + yaw_feedforward;
_vehicle_torque_setpoint.xyz[2] = PX4_ISFINITE(yaw_u) ? math::constrain(yaw_u + trim_yaw, -1.f, 1.f) : trim_yaw;
if (!PX4_ISFINITE(roll_u) || !PX4_ISFINITE(pitch_u) || !PX4_ISFINITE(yaw_u)) {
_rate_control.resetIntegral();
}
/* throttle passed through if it is finite */
_vehicle_thrust_setpoint.xyz[0] = PX4_ISFINITE(_rates_sp.thrust_body[0]) ? _rates_sp.thrust_body[0] : 0.0f;
/* scale effort by battery status */
if (_param_fw_bat_scale_en.get() && _vehicle_thrust_setpoint.xyz[0] > 0.1f) {
if (_battery_status_sub.updated()) {
battery_status_s battery_status{};
if (_battery_status_sub.copy(&battery_status) && battery_status.connected && battery_status.scale > 0.f) {
_battery_scale = battery_status.scale;
}
}
_vehicle_thrust_setpoint.xyz[0] *= _battery_scale;
}
}
// publish rate controller status
rate_ctrl_status_s rate_ctrl_status{};
_rate_control.getRateControlStatus(rate_ctrl_status);
rate_ctrl_status.timestamp = hrt_absolute_time();
_rate_ctrl_status_pub.publish(rate_ctrl_status);
} else {
// full manual
_rate_control.resetIntegral();
}
// 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
_vehicle_torque_setpoint.xyz[2] = math::constrain(_vehicle_torque_setpoint.xyz[2] + _param_fw_rll_to_yaw_ff.get() *
_vehicle_torque_setpoint.xyz[0], -1.f, 1.f);
// Tailsitter: rotate back to body frame from airspeed frame
if (_vehicle_status.is_vtol_tailsitter) {
const float helper = _vehicle_torque_setpoint.xyz[0];
_vehicle_torque_setpoint.xyz[0] = _vehicle_torque_setpoint.xyz[2];
_vehicle_torque_setpoint.xyz[2] = -helper;
}
/* 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) {
{
_vehicle_thrust_setpoint.timestamp = hrt_absolute_time();
_vehicle_thrust_setpoint.timestamp_sample = angular_velocity.timestamp_sample;
_vehicle_thrust_setpoint_pub.publish(_vehicle_thrust_setpoint);
_vehicle_torque_setpoint.timestamp = hrt_absolute_time();
_vehicle_torque_setpoint.timestamp_sample = angular_velocity.timestamp_sample;
_vehicle_torque_setpoint_pub.publish(_vehicle_torque_setpoint);
}
}
updateActuatorControlsStatus(dt);
// Manual flaps/spoilers control, also active in VTOL Hover. Is handled and published in FW Position controller/VTOL module if Auto.
if (_vcontrol_mode.flag_control_manual_enabled) {
// Flaps control
float flaps_control = 0.f; // default to no flaps
/* map flaps by default to manual if valid */
if (PX4_ISFINITE(_manual_control_setpoint.flaps)) {
flaps_control = math::max(_manual_control_setpoint.flaps, 0.f); // do not consider negative switch settings
}
normalized_unsigned_setpoint_s flaps_setpoint;
flaps_setpoint.timestamp = hrt_absolute_time();
flaps_setpoint.normalized_setpoint = flaps_control;
_flaps_setpoint_pub.publish(flaps_setpoint);
// Spoilers control
float spoilers_control = 0.f; // default to no spoilers
switch (_param_fw_spoilers_man.get()) {
case 0:
break;
case 1:
// do not consider negative switch settings
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.flaps) ? math::max(_manual_control_setpoint.flaps, 0.f) : 0.f;
break;
case 2:
// do not consider negative switch settings
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.aux1) ? math::max(_manual_control_setpoint.aux1, 0.f) : 0.f;
break;
}
normalized_unsigned_setpoint_s spoilers_setpoint;
spoilers_setpoint.timestamp = hrt_absolute_time();
spoilers_setpoint.normalized_setpoint = spoilers_control;
_spoilers_setpoint_pub.publish(spoilers_setpoint);
}
}
// backup schedule
ScheduleDelayed(20_ms);
perf_end(_loop_perf);
}
void FixedwingRateControl::updateActuatorControlsStatus(float dt)
{
for (int i = 0; i < 3; i++) {
// We assume that the attitude is actuated by control surfaces
// consuming power only when they move
const float control_signal = _vehicle_torque_setpoint.xyz[i] - _control_prev[i];
_control_prev[i] = _vehicle_torque_setpoint.xyz[i];
_control_energy[i] += control_signal * control_signal * dt;
}
_energy_integration_time += dt;
if (_energy_integration_time > 500e-3f) {
actuator_controls_status_s status;
status.timestamp = _vehicle_torque_setpoint.timestamp;
for (int i = 0; i < 3; i++) {
status.control_power[i] = _control_energy[i] / _energy_integration_time;
_control_energy[i] = 0.f;
}
_actuator_controls_status_pub.publish(status);
_energy_integration_time = 0.f;
}
}
int FixedwingRateControl::task_spawn(int argc, char *argv[])
{
bool vtol = false;
if (argc > 1) {
if (strcmp(argv[1], "vtol") == 0) {
vtol = true;
}
}
FixedwingRateControl *instance = new FixedwingRateControl(vtol);
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
if (instance->init()) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
_object.store(nullptr);
_task_id = -1;
return PX4_ERROR;
}
int FixedwingRateControl::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int FixedwingRateControl::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
fw_rate_control is the fixed-wing rate controller.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("fw_rate_control", "controller");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_ARG("vtol", "VTOL mode", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int fw_rate_control_main(int argc, char *argv[])
{
return FixedwingRateControl::main(argc, argv);
}