mc_att_control.hpp

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#pragma once

#include <lib/mixer/Mixer/Mixer.hpp> // Airmode
#include <matrix/matrix/math.hpp>
#include <perf/perf_counter.h>
#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/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <vtol_att_control/vtol_type.h>

#include <AttitudeControl.hpp>

/**
 * Multicopter attitude control app start / stop handling function
 */
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);

class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>, public ModuleParams,
    public px4::WorkItem
{
public:
    MulticopterAttitudeControl();

    virtual ~MulticopterAttitudeControl();

    /** @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);

    /** @see ModuleBase::print_status() */
    int print_status() override;

    void Run() override;

    bool init();

private:

    /**
     * initialize some vectors/matrices from parameters
     */
    void        parameters_updated();

    void        vehicle_status_poll();

    void        publish_rates_setpoint();

    float       throttle_curve(float throttle_stick_input);

    /**
     * Generate & publish an attitude setpoint from stick inputs
     */
    void        generate_attitude_setpoint(float dt, bool reset_yaw_sp);

    /**
     * Attitude controller.
     */
    void        control_attitude();

    AttitudeControl _attitude_control; ///< class for attitude control calculations

    uORB::Subscription _v_att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};        /**< vehicle attitude setpoint subscription */
    uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};     /**< vehicle rates setpoint subscription */
    uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};       /**< vehicle control mode subscription */
    uORB::Subscription _params_sub{ORB_ID(parameter_update)};           /**< parameter updates subscription */
    uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
    uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};         /**< vehicle status subscription */
    uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};   /**< vehicle land detected subscription */

    uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};

    uORB::Publication<vehicle_rates_setpoint_s> _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};            /**< rate setpoint publication */

    orb_advert_t    _vehicle_attitude_setpoint_pub{nullptr};

    orb_id_t _attitude_sp_id{nullptr};  /**< pointer to correct attitude setpoint uORB metadata structure */

    struct vehicle_attitude_s       _v_att {};      /**< vehicle attitude */
    struct vehicle_attitude_setpoint_s  _v_att_sp {};       /**< vehicle attitude setpoint */
    struct vehicle_rates_setpoint_s     _v_rates_sp {};     /**< vehicle rates setpoint */
    struct manual_control_setpoint_s    _manual_control_sp {};  /**< manual control setpoint */
    struct vehicle_control_mode_s       _v_control_mode {}; /**< vehicle control mode */
    struct vehicle_status_s         _vehicle_status {}; /**< vehicle status */
    struct vehicle_land_detected_s      _vehicle_land_detected {};

    perf_counter_t  _loop_perf;         /**< loop duration performance counter */

    matrix::Vector3f _rates_sp;         /**< angular rates setpoint */

    float _man_yaw_sp{0.f};             /**< current yaw setpoint in manual mode */

    hrt_abstime _last_run{0};

    bool _reset_yaw_sp{true};

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::MC_ROLL_P>) _param_mc_roll_p,
        (ParamFloat<px4::params::MC_PITCH_P>) _param_mc_pitch_p,
        (ParamFloat<px4::params::MC_YAW_P>) _param_mc_yaw_p,

        (ParamFloat<px4::params::MC_ROLLRATE_MAX>) _param_mc_rollrate_max,
        (ParamFloat<px4::params::MC_PITCHRATE_MAX>) _param_mc_pitchrate_max,
        (ParamFloat<px4::params::MC_YAWRATE_MAX>) _param_mc_yawrate_max,

        (ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max,          /**< scaling factor from stick to yaw rate */

        (ParamFloat<px4::params::MC_RATT_TH>) _param_mc_ratt_th,

        /* Stabilized mode params */
        (ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max,            /**< maximum tilt allowed for manual flight */
        (ParamFloat<px4::params::MPC_MANTHR_MIN>) _param_mpc_manthr_min,            /**< minimum throttle for stabilized */
        (ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,              /**< maximum throttle for stabilized */
        (ParamFloat<px4::params::MPC_THR_HOVER>)
        _param_mpc_thr_hover,           /**< throttle at which vehicle is at hover equilibrium */
        (ParamInt<px4::params::MPC_THR_CURVE>) _param_mpc_thr_curve,                /**< throttle curve behavior */

        (ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode
    )

    bool _is_tailsitter{false};

    float _man_tilt_max;            /**< maximum tilt allowed for manual flight [rad] */

};