FixedwingAttitudeControl.hpp

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#include <drivers/drv_hrt.h>
#include <lib/ecl/attitude_fw/ecl_pitch_controller.h>
#include <lib/ecl/attitude_fw/ecl_roll_controller.h>
#include <lib/ecl/attitude_fw/ecl_wheel_controller.h>
#include <lib/ecl/attitude_fw/ecl_yaw_controller.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/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.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/actuator_controls.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/vehicle_angular_velocity.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_global_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>

using matrix::Eulerf;
using matrix::Quatf;

using uORB::SubscriptionData;

class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public ModuleParams,
    public px4::WorkItem
{
public:
    FixedwingAttitudeControl();
    ~FixedwingAttitudeControl() 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);

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

    void Run() override;

    bool init();

private:

    uORB::SubscriptionCallbackWorkItem _att_sub{this, ORB_ID(vehicle_attitude)};    /**< vehicle attitude */

    uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};      /**< vehicle attitude setpoint */
    uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};         /**< battery status subscription */
    uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};        /**< global position subscription */
    uORB::Subscription _manual_sub{ORB_ID(manual_control_setpoint)};        /**< notification of manual control updates */
    uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};     /**< notification of parameter updates */
    uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};       /**< vehicle rates setpoint */
    uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};        /**< vehicle status subscription */
    uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};   /**< vehicle land detected subscription */
    uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};         /**< vehicle status subscription */
    uORB::Subscription _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};

    uORB::SubscriptionData<airspeed_validated_s> _airspeed_validated_sub{ORB_ID(airspeed_validated)};

    uORB::Publication<actuator_controls_s>      _actuators_2_pub{ORB_ID(actuator_controls_2)};      /**< actuator control group 1 setpoint (Airframe) */
    uORB::Publication<vehicle_rates_setpoint_s> _rate_sp_pub{ORB_ID(vehicle_rates_setpoint)};       /**< rate setpoint publication */
    uORB::PublicationMulti<rate_ctrl_status_s>  _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};    /**< rate controller status publication */

    orb_id_t    _attitude_setpoint_id{nullptr};
    orb_advert_t    _attitude_sp_pub{nullptr};  /**< attitude setpoint point */

    orb_id_t    _actuators_id{nullptr};     /**< pointer to correct actuator controls0 uORB metadata structure */
    orb_advert_t    _actuators_0_pub{nullptr};  /**< actuator control group 0 setpoint */

    actuator_controls_s         _actuators {};      /**< actuator control inputs */
    actuator_controls_s         _actuators_airframe {}; /**< actuator control inputs */
    manual_control_setpoint_s       _manual {};     /**< r/c channel data */
    vehicle_attitude_s          _att {};        /**< vehicle attitude setpoint */
    vehicle_attitude_setpoint_s     _att_sp {};     /**< vehicle attitude setpoint */
    vehicle_control_mode_s          _vcontrol_mode {};  /**< vehicle control mode */
    vehicle_global_position_s       _global_pos {};     /**< global position */
    vehicle_rates_setpoint_s        _rates_sp {};       /* attitude rates setpoint */
    vehicle_status_s            _vehicle_status {}; /**< vehicle status */

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

    float _flaps_applied{0.0f};
    float _flaperons_applied{0.0f};

    float _airspeed_scaling{1.0f};

    bool _landed{true};

    float _battery_scale{1.0f};

    bool _flag_control_attitude_enabled_last{false};

    bool _is_tailsitter{false};

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max,
        (ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max,
        (ParamFloat<px4::params::FW_ACRO_Z_MAX>) _param_fw_acro_z_max,

        (ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
        (ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
        (ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
        (ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,

        (ParamBool<px4::params::FW_BAT_SCALE_EN>) _param_fw_bat_scale_en,

        (ParamFloat<px4::params::FW_DTRIM_P_FLPS>) _param_fw_dtrim_p_flps,
        (ParamFloat<px4::params::FW_DTRIM_P_VMAX>) _param_fw_dtrim_p_vmax,
        (ParamFloat<px4::params::FW_DTRIM_P_VMIN>) _param_fw_dtrim_p_vmin,
        (ParamFloat<px4::params::FW_DTRIM_R_FLPS>) _param_fw_dtrim_r_flps,
        (ParamFloat<px4::params::FW_DTRIM_R_VMAX>) _param_fw_dtrim_r_vmax,
        (ParamFloat<px4::params::FW_DTRIM_R_VMIN>) _param_fw_dtrim_r_vmin,
        (ParamFloat<px4::params::FW_DTRIM_Y_VMAX>) _param_fw_dtrim_y_vmax,
        (ParamFloat<px4::params::FW_DTRIM_Y_VMIN>) _param_fw_dtrim_y_vmin,

        (ParamFloat<px4::params::FW_FLAPERON_SCL>) _param_fw_flaperon_scl,
        (ParamFloat<px4::params::FW_FLAPS_LND_SCL>) _param_fw_flaps_lnd_scl,
        (ParamFloat<px4::params::FW_FLAPS_SCL>) _param_fw_flaps_scl,
        (ParamFloat<px4::params::FW_FLAPS_TO_SCL>) _param_fw_flaps_to_scl,

        (ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
        (ParamFloat<px4::params::FW_MAN_P_SC>) _param_fw_man_p_sc,
        (ParamFloat<px4::params::FW_MAN_R_MAX>) _param_fw_man_r_max,
        (ParamFloat<px4::params::FW_MAN_R_SC>) _param_fw_man_r_sc,
        (ParamFloat<px4::params::FW_MAN_Y_SC>) _param_fw_man_y_sc,

        (ParamFloat<px4::params::FW_P_RMAX_NEG>) _param_fw_p_rmax_neg,
        (ParamFloat<px4::params::FW_P_RMAX_POS>) _param_fw_p_rmax_pos,
        (ParamFloat<px4::params::FW_P_TC>) _param_fw_p_tc,
        (ParamFloat<px4::params::FW_PR_FF>) _param_fw_pr_ff,
        (ParamFloat<px4::params::FW_PR_I>) _param_fw_pr_i,
        (ParamFloat<px4::params::FW_PR_IMAX>) _param_fw_pr_imax,
        (ParamFloat<px4::params::FW_PR_P>) _param_fw_pr_p,
        (ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,

        (ParamFloat<px4::params::FW_RATT_TH>) _param_fw_ratt_th,

        (ParamFloat<px4::params::FW_R_RMAX>) _param_fw_r_rmax,
        (ParamFloat<px4::params::FW_R_TC>) _param_fw_r_tc,
        (ParamFloat<px4::params::FW_RLL_TO_YAW_FF>) _param_fw_rll_to_yaw_ff,
        (ParamFloat<px4::params::FW_RR_FF>) _param_fw_rr_ff,
        (ParamFloat<px4::params::FW_RR_I>) _param_fw_rr_i,
        (ParamFloat<px4::params::FW_RR_IMAX>) _param_fw_rr_imax,
        (ParamFloat<px4::params::FW_RR_P>) _param_fw_rr_p,
        (ParamFloat<px4::params::FW_RSP_OFF>) _param_fw_rsp_off,

        (ParamBool<px4::params::FW_W_EN>) _param_fw_w_en,
        (ParamFloat<px4::params::FW_W_RMAX>) _param_fw_w_rmax,
        (ParamFloat<px4::params::FW_WR_FF>) _param_fw_wr_ff,
        (ParamFloat<px4::params::FW_WR_I>) _param_fw_wr_i,
        (ParamFloat<px4::params::FW_WR_IMAX>) _param_fw_wr_imax,
        (ParamFloat<px4::params::FW_WR_P>) _param_fw_wr_p,

        (ParamFloat<px4::params::FW_Y_RMAX>) _param_fw_y_rmax,
        (ParamFloat<px4::params::FW_YR_FF>) _param_fw_yr_ff,
        (ParamFloat<px4::params::FW_YR_I>) _param_fw_yr_i,
        (ParamFloat<px4::params::FW_YR_IMAX>) _param_fw_yr_imax,
        (ParamFloat<px4::params::FW_YR_P>) _param_fw_yr_p,

        (ParamFloat<px4::params::TRIM_PITCH>) _param_trim_pitch,
        (ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
        (ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw
    )

    ECL_RollController      _roll_ctrl;
    ECL_PitchController     _pitch_ctrl;
    ECL_YawController       _yaw_ctrl;
    ECL_WheelController     _wheel_ctrl;

    void control_flaps(const float dt);

    /**
     * Update our local parameter cache.
     */
    int     parameters_update();

    void        vehicle_control_mode_poll();
    void        vehicle_manual_poll();
    void        vehicle_attitude_setpoint_poll();
    void        vehicle_rates_setpoint_poll();
    void        vehicle_status_poll();
    void        vehicle_land_detected_poll();

    float       get_airspeed_and_update_scaling();
};