vtol_att_control_main.h

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/**
 * @file VTOL_att_control_main.cpp
 * 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 <drivers/drv_pwm_output.h>
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/parameters/param.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/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/actuator_controls.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/manual_control_setpoint.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 "standard.h"
#include "tailsitter.h"
#include "tiltrotor.h"

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

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

    VtolAttitudeControl();
    ~VtolAttitudeControl();

    /** @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);

    void Run() override;

    bool init();

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

    bool is_fixed_wing_requested();
    void abort_front_transition(const char *reason);

    struct actuator_controls_s          *get_actuators_fw_in() {return &_actuators_fw_in;}
    struct actuator_controls_s          *get_actuators_mc_in() {return &_actuators_mc_in;}
    struct actuator_controls_s          *get_actuators_out0() {return &_actuators_out_0;}
    struct actuator_controls_s          *get_actuators_out1() {return &_actuators_out_1;}
    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 &_v_att;}
    struct vehicle_attitude_setpoint_s      *get_att_sp() {return &_v_att_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 &_v_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 vtol_vehicle_status_s            *get_vtol_vehicle_status() {return &_vtol_vehicle_status;}

    struct Params                   *get_params() {return &_params;}

private:

    uORB::SubscriptionCallbackWorkItem _actuator_inputs_fw{this, ORB_ID(actuator_controls_virtual_fw)};
    uORB::SubscriptionCallbackWorkItem _actuator_inputs_mc{this, ORB_ID(actuator_controls_virtual_mc)};

    uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};         // airspeed subscription
    uORB::Subscription _fw_virtual_att_sp_sub{ORB_ID(fw_virtual_attitude_setpoint)};
    uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
    uORB::Subscription _local_pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};          // setpoint subscription
    uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};          // sensor subscription
    uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; //manual control setpoint subscription
    uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
    uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
    uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};          // local position setpoint subscription
    uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
    uORB::Subscription _v_att_sub{ORB_ID(vehicle_attitude)};        //vehicle attitude subscription
    uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};   //vehicle control mode subscription
    uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};

    uORB::Publication<actuator_controls_s>      _actuators_0_pub{ORB_ID(actuator_controls_0)};      //input for the mixer (roll,pitch,yaw,thrust)
    uORB::Publication<actuator_controls_s>      _actuators_1_pub{ORB_ID(actuator_controls_1)};
    uORB::Publication<vehicle_attitude_setpoint_s>  _v_att_sp_pub{ORB_ID(vehicle_attitude_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     _v_att_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

    actuator_controls_s         _actuators_fw_in{}; //actuator controls from fw_att_control
    actuator_controls_s         _actuators_mc_in{}; //actuator controls from mc_att_control
    actuator_controls_s         _actuators_out_0{}; //actuator controls going to the mc mixer
    actuator_controls_s         _actuators_out_1{}; //actuator controls going to the fw mixer (used for elevons)

    airspeed_validated_s                _airspeed_validated{};          // airspeed
    manual_control_setpoint_s       _manual_control_sp{}; //manual control setpoint
    position_setpoint_triplet_s     _pos_sp_triplet{};
    tecs_status_s               _tecs_status{};
    vehicle_attitude_s          _v_att{};               //vehicle attitude
    vehicle_command_s           _vehicle_cmd{};
    vehicle_control_mode_s          _v_control_mode{};  //vehicle control mode
    vehicle_land_detected_s         _land_detected{};
    vehicle_local_position_s        _local_pos{};
    vehicle_local_position_setpoint_s   _local_pos_sp{};
    vtol_vehicle_status_s           _vtol_vehicle_status{};

    Params _params{};   // struct holding the parameters

    struct {
        param_t idle_pwm_mc;
        param_t vtol_motor_id;
        param_t vtol_fw_permanent_stab;
        param_t vtol_type;
        param_t elevons_mc_lock;
        param_t fw_min_alt;
        param_t fw_alt_err;
        param_t fw_qc_max_pitch;
        param_t fw_qc_max_roll;
        param_t front_trans_time_openloop;
        param_t front_trans_time_min;
        param_t front_trans_duration;
        param_t back_trans_duration;
        param_t transition_airspeed;
        param_t front_trans_throttle;
        param_t back_trans_throttle;
        param_t airspeed_blend;
        param_t airspeed_mode;
        param_t front_trans_timeout;
        param_t mpc_xy_cruise;
        param_t fw_motors_off;
        param_t diff_thrust;
        param_t diff_thrust_scale;
    } _params_handles{};

    /* 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        _abort_front_transition{false};

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

    bool        _initialized{false};

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

    void        vehicle_cmd_poll();

    int         parameters_update();            //Update local parameter cache

    void        handle_command();
};