vtol_att_control_main.h

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/**
 * @file vtol_att_control_main.h
 * Implementation of an attitude controller for VTOL airframes. This module receives data
 * from both the fixed wing- and the multicopter attitude controllers and processes it.
 * It computes the correct actuator controls depending on which mode the vehicle is in (hover,forward-
 * flight or transition). It also publishes the resulting controls on the actuator controls topics.
 *
 * @author Roman Bapst 		<bapstr@ethz.ch>
 * @author Lorenz Meier 	<lm@inf.ethz.ch>
 * @author Thomas Gubler	<thomasgubler@gmail.com>
 * @author David Vorsin		<davidvorsin@gmail.com>
 * @author Sander Smeets	<sander@droneslab.com>
 * @author Andreas Antener 	<andreas@uaventure.com>
 *
 */

#pragma once

#include <drivers/drv_hrt.h>
#include <lib/atmosphere/atmosphere.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/action_request.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/normalized_unsigned_setpoint.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
#include "standard.h"
#include "tailsitter.h"
#include "tiltrotor.h"

using namespace time_literals;

extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]);

class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public ModuleParams, public px4::WorkItem
{
public:

	VtolAttitudeControl();
	~VtolAttitudeControl() override;

	/** @see ModuleBase */
	static int task_spawn(int argc, char *argv[]);

	/** @see ModuleBase */
	static int custom_command(int argc, char *argv[]);

	/** @see ModuleBase */
	static int print_usage(const char *reason = nullptr);

	bool init();

	bool is_fixed_wing_requested() { return _transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW; };

	void quadchute(QuadchuteReason reason);

	int get_transition_command() {return _transition_command;}

	bool get_immediate_transition() {return _immediate_transition;}

	void reset_immediate_transition() {_immediate_transition = false;}

	float getAirDensity() const { return _air_density; }

	struct vehicle_torque_setpoint_s		*get_vehicle_torque_setpoint_virtual_mc() {return &_vehicle_torque_setpoint_virtual_mc;}
	struct vehicle_torque_setpoint_s		*get_vehicle_torque_setpoint_virtual_fw() {return &_vehicle_torque_setpoint_virtual_fw;}
	struct vehicle_thrust_setpoint_s		*get_vehicle_thrust_setpoint_virtual_mc() {return &_vehicle_thrust_setpoint_virtual_mc;}
	struct vehicle_thrust_setpoint_s		*get_vehicle_thrust_setpoint_virtual_fw() {return &_vehicle_thrust_setpoint_virtual_fw;}

	struct airspeed_validated_s 			*get_airspeed() {return &_airspeed_validated;}
	struct position_setpoint_triplet_s		*get_pos_sp_triplet() {return &_pos_sp_triplet;}
	struct tecs_status_s 				*get_tecs_status() {return &_tecs_status;}
	struct vehicle_attitude_s 			*get_att() {return &_vehicle_attitude;}
	struct vehicle_attitude_setpoint_s		*get_att_sp() {return &_vehicle_attitude_sp;}
	struct vehicle_attitude_setpoint_s 		*get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
	struct vehicle_attitude_setpoint_s 		*get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
	struct vehicle_control_mode_s 			*get_control_mode() {return &_vehicle_control_mode;}
	struct vehicle_land_detected_s			*get_land_detected() {return &_land_detected;}
	struct vehicle_local_position_s 		*get_local_pos() {return &_local_pos;}
	struct vehicle_local_position_setpoint_s	*get_local_pos_sp() {return &_local_pos_sp;}
	struct vehicle_torque_setpoint_s 		*get_torque_setpoint_0() {return &_torque_setpoint_0;}
	struct vehicle_torque_setpoint_s 		*get_torque_setpoint_1() {return &_torque_setpoint_1;}
	struct vehicle_thrust_setpoint_s 		*get_thrust_setpoint_0() {return &_thrust_setpoint_0;}
	struct vehicle_thrust_setpoint_s 		*get_thrust_setpoint_1() {return &_thrust_setpoint_1;}
	struct vtol_vehicle_status_s			*get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
	float get_home_position_z() { return _home_position_z; }

private:
	void Run() override;
	uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_virtual_fw_sub{this, ORB_ID(vehicle_torque_setpoint_virtual_fw)};
	uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_virtual_mc_sub{this, ORB_ID(vehicle_torque_setpoint_virtual_mc)};
	uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_virtual_fw_sub{this, ORB_ID(vehicle_thrust_setpoint_virtual_fw)};
	uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_virtual_mc_sub{this, ORB_ID(vehicle_thrust_setpoint_virtual_mc)};

	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

	uORB::Subscription _action_request_sub{ORB_ID(action_request)};
	uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
	uORB::Subscription _fw_virtual_att_sp_sub{ORB_ID(fw_virtual_attitude_setpoint)};
	uORB::Subscription _home_position_sub{ORB_ID(home_position)};
	uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
	uORB::Subscription _local_pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};
	uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
	uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
	uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
	uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
	uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};

	uORB::Publication<normalized_unsigned_setpoint_s>	_flaps_setpoint_pub{ORB_ID(flaps_setpoint)};
	uORB::Publication<normalized_unsigned_setpoint_s>	_spoilers_setpoint_pub{ORB_ID(spoilers_setpoint)};
	uORB::Publication<vehicle_attitude_setpoint_s>		_vehicle_attitude_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
	uORB::PublicationMulti<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint0_pub{ORB_ID(vehicle_thrust_setpoint)};
	uORB::PublicationMulti<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint1_pub{ORB_ID(vehicle_thrust_setpoint)};
	uORB::PublicationMulti<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint0_pub{ORB_ID(vehicle_torque_setpoint)};
	uORB::PublicationMulti<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint1_pub{ORB_ID(vehicle_torque_setpoint)};
	uORB::Publication<vtol_vehicle_status_s>		_vtol_vehicle_status_pub{ORB_ID(vtol_vehicle_status)};

	orb_advert_t	_mavlink_log_pub{nullptr};	// mavlink log uORB handle

	vehicle_attitude_setpoint_s		_vehicle_attitude_sp{};	// vehicle attitude setpoint
	vehicle_attitude_setpoint_s 		_fw_virtual_att_sp{};	// virtual fw attitude setpoint
	vehicle_attitude_setpoint_s 		_mc_virtual_att_sp{};	// virtual mc attitude setpoint

	vehicle_torque_setpoint_s		_vehicle_torque_setpoint_virtual_mc{};
	vehicle_torque_setpoint_s		_vehicle_torque_setpoint_virtual_fw{};
	vehicle_thrust_setpoint_s		_vehicle_thrust_setpoint_virtual_mc{};
	vehicle_thrust_setpoint_s		_vehicle_thrust_setpoint_virtual_fw{};

	vehicle_torque_setpoint_s		_torque_setpoint_0{};
	vehicle_torque_setpoint_s		_torque_setpoint_1{};
	vehicle_thrust_setpoint_s		_thrust_setpoint_0{};
	vehicle_thrust_setpoint_s		_thrust_setpoint_1{};

	airspeed_validated_s 			_airspeed_validated{};
	position_setpoint_triplet_s		_pos_sp_triplet{};
	tecs_status_s				_tecs_status{};
	vehicle_attitude_s			_vehicle_attitude{};
	vehicle_control_mode_s			_vehicle_control_mode{};
	vehicle_land_detected_s			_land_detected{};
	vehicle_local_position_s		_local_pos{};
	vehicle_local_position_setpoint_s	_local_pos_sp{};
	vehicle_status_s 			_vehicle_status{};
	vtol_vehicle_status_s 			_vtol_vehicle_status{};
	float _home_position_z{NAN};

	float _air_density{atmosphere::kAirDensitySeaLevelStandardAtmos};	// [kg/m^3]

#if !defined(ENABLE_LOCKSTEP_SCHEDULER)
	hrt_abstime _last_run_timestamp {0};
#endif // !ENABLE_LOCKSTEP_SCHEDULER

	/* For multicopters it is usual to have a non-zero idle speed of the engines
	 * for fixed wings we want to have an idle speed of zero since we do not want
	 * to waste energy when gliding. */
	int		_transition_command{vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC};
	bool		_immediate_transition{false};

	uint8_t _nav_state_prev;

	VtolType	*_vtol_type{nullptr};	// base class for different vtol types

	bool		_initialized{false};

	perf_counter_t	_loop_perf;		// loop performance counter

	void		vehicle_status_poll();

	void		action_request_poll();

	void		vehicle_cmd_poll();

	void 		parameters_update();

	DEFINE_PARAMETERS(
		(ParamInt<px4::params::VT_TYPE>) _param_vt_type,
		(ParamFloat<px4::params::VT_SPOILER_MC_LD>) _param_vt_spoiler_mc_ld
	)
};