#include <mc_att_control.hpp>

Inheritance diagram for MulticopterAttitudeControl:

Collaboration diagram for MulticopterAttitudeControl:

Classes
struct	_manual_control_sp
	manual control setpoint More...

struct	_v_att
	vehicle attitude More...

struct	_v_att_sp
	vehicle attitude setpoint More...

struct	_v_control_mode
	vehicle control mode More...

struct	_v_rates_sp
	vehicle rates setpoint More...

struct	_vehicle_land_detected

struct	_vehicle_status
	vehicle status More...

Public Member Functions
	MulticopterAttitudeControl ()

virtual	~MulticopterAttitudeControl ()

int	print_status () override

void	Run () override

bool	init ()

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

Private Member Functions
void	parameters_updated ()
	initialize some vectors/matrices from parameters More...

void	vehicle_status_poll ()

void	publish_rates_setpoint ()

float	throttle_curve (float throttle_stick_input)

void	generate_attitude_setpoint (float dt, bool reset_yaw_sp)
	Generate & publish an attitude setpoint from stick inputs. More...

void	control_attitude ()
	Attitude controller. More...

	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,(ParamFloat< px4::params::MC_RATT_TH >) _param_mc_ratt_th,(ParamFloat< px4::params::MPC_MAN_TILT_MAX >) _param_mpc_man_tilt_max,(ParamFloat< px4::params::MPC_MANTHR_MIN >) _param_mpc_manthr_min,(ParamFloat< px4::params::MPC_THR_MAX >) _param_mpc_thr_max,(ParamFloat< px4::params::MPC_THR_HOVER >) _param_mpc_thr_hover,(ParamInt< px4::params::MPC_THR_CURVE >) _param_mpc_thr_curve,(ParamInt< px4::params::MC_AIRMODE >) _param_mc_airmode) bool _is_tailsitter

Private Attributes
AttitudeControl	_attitude_control
	class for attitude control calculations More...

uORB::Subscription	_v_att_sp_sub {ORB_ID(vehicle_attitude_setpoint)}
	vehicle attitude setpoint subscription More...

uORB::Subscription	_v_rates_sp_sub {ORB_ID(vehicle_rates_setpoint)}
	vehicle rates setpoint subscription More...

uORB::Subscription	_v_control_mode_sub {ORB_ID(vehicle_control_mode)}
	vehicle control mode subscription More...

uORB::Subscription	_params_sub {ORB_ID(parameter_update)}
	parameter updates subscription More...

uORB::Subscription	_manual_control_sp_sub {ORB_ID(manual_control_setpoint)}
	manual control setpoint subscription More...

uORB::Subscription	_vehicle_status_sub {ORB_ID(vehicle_status)}
	vehicle status subscription More...

uORB::Subscription	_vehicle_land_detected_sub {ORB_ID(vehicle_land_detected)}
	vehicle land detected subscription More...

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 More...

orb_advert_t	_vehicle_attitude_setpoint_pub {nullptr}

orb_id_t	_attitude_sp_id {nullptr}
	pointer to correct attitude setpoint uORB metadata structure More...

perf_counter_t	_loop_perf
	loop duration performance counter More...

matrix::Vector3f	_rates_sp
	angular rates setpoint More...

float	_man_yaw_sp {0.f}
	current yaw setpoint in manual mode More...

hrt_abstime	_last_run {0}

bool	_reset_yaw_sp {true}

float	_man_tilt_max
	maximum tilt allowed for manual flight [rad] More...

Detailed Description

Definition at line 65 of file mc_att_control.hpp.

Constructor & Destructor Documentation

◆ MulticopterAttitudeControl()

MulticopterAttitudeControl::MulticopterAttitudeControl ( )

Definition at line 54 of file mc_att_control_main.cpp.

References parameters_updated().

Referenced by task_spawn().

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◆ ~MulticopterAttitudeControl()

MulticopterAttitudeControl::~MulticopterAttitudeControl ( )

virtual

Definition at line 68 of file mc_att_control_main.cpp.

References _loop_perf, and perf_free().

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Member Function Documentation

◆ control_attitude()

void MulticopterAttitudeControl::control_attitude ( )

private

Attitude controller.

Input: 'vehicle_attitude_setpoint' topics (depending on mode) Output: '_rates_sp' vector

Definition at line 247 of file mc_att_control_main.cpp.

References _attitude_control, _rates_sp, _v_att_sp_sub, AttitudeControl::update(), and uORB::Subscription::update().

Referenced by Run().

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◆ custom_command()

int MulticopterAttitudeControl::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 398 of file mc_att_control_main.cpp.

References print_usage().

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◆ DEFINE_PARAMETERS()

MulticopterAttitudeControl::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,
		(ParamFloat< px4::params::MC_RATT_TH >)	_param_mc_ratt_th,
		(ParamFloat< px4::params::MPC_MAN_TILT_MAX >)	_param_mpc_man_tilt_max,
		(ParamFloat< px4::params::MPC_MANTHR_MIN >)	_param_mpc_manthr_min,
		(ParamFloat< px4::params::MPC_THR_MAX >)	_param_mpc_thr_max,
		(ParamFloat< px4::params::MPC_THR_HOVER >)	_param_mpc_thr_hover,
		(ParamInt< px4::params::MPC_THR_CURVE >)	_param_mpc_thr_curve,
		(ParamInt< px4::params::MC_AIRMODE >)	_param_mc_airmode
	)

inlineprivate

Parameters

_param_mpc_man_y_max	scaling factor from stick to yaw rate
_param_mpc_man_tilt_max	maximum tilt allowed for manual flight
_param_mpc_manthr_min	minimum throttle for stabilized
_param_mpc_thr_max	maximum throttle for stabilized
_param_mpc_thr_hover	throttle at which vehicle is at hover equilibrium
_param_mpc_thr_curve	throttle curve behavior

Definition at line 148 of file mc_att_control.hpp.

◆ generate_attitude_setpoint()

void MulticopterAttitudeControl::generate_attitude_setpoint	(	float	dt,
		bool	reset_yaw_sp
	)

private

Generate & publish an attitude setpoint from stick inputs.

Definition at line 144 of file mc_att_control_main.cpp.

References _attitude_sp_id, _man_tilt_max, _man_yaw_sp, _vehicle_attitude_setpoint_pub, matrix::Matrix< Type, M, N >::copyTo(), f(), hrt_absolute_time(), matrix::Vector< Type, M >::norm(), ORB_PRIO_DEFAULT, orb_publish_auto(), math::radians(), Mixer::roll_pitch_yaw, throttle_curve(), and matrix::wrap_pi().

Referenced by Run().

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◆ init()

bool MulticopterAttitudeControl::init ( )

Definition at line 74 of file mc_att_control_main.cpp.

References _vehicle_attitude_sub, and uORB::SubscriptionCallback::registerCallback().

Referenced by task_spawn().

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◆ parameters_updated()

void MulticopterAttitudeControl::parameters_updated ( )

private

initialize some vectors/matrices from parameters

Definition at line 85 of file mc_att_control_main.cpp.

References _attitude_control, _man_tilt_max, math::radians(), AttitudeControl::setProportionalGain(), and AttitudeControl::setRateLimit().

Referenced by MulticopterAttitudeControl(), and Run().

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◆ print_status()

int MulticopterAttitudeControl::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 389 of file mc_att_control_main.cpp.

References _loop_perf, and perf_print_counter().

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◆ print_usage()

int MulticopterAttitudeControl::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 403 of file mc_att_control_main.cpp.

Referenced by custom_command().

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◆ publish_rates_setpoint()

void MulticopterAttitudeControl::publish_rates_setpoint ( )

private

Definition at line 254 of file mc_att_control_main.cpp.

References _rates_sp, _v_rates_sp_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), and vehicle_rates_setpoint_s::roll.

Referenced by Run().

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◆ Run()

void MulticopterAttitudeControl::Run ( )

override

Definition at line 270 of file mc_att_control_main.cpp.

References _last_run, _loop_perf, _man_yaw_sp, _manual_control_sp_sub, _params_sub, _rates_sp, _reset_yaw_sp, _v_control_mode_sub, _v_rates_sp_sub, _vehicle_attitude_sub, _vehicle_land_detected_sub, math::constrain(), control_attitude(), uORB::Subscription::copy(), dt, f(), generate_attitude_setpoint(), hrt_absolute_time(), hrt_abstime, parameters_updated(), perf_begin(), perf_end(), publish_rates_setpoint(), uORB::SubscriptionCallback::unregisterCallback(), uORB::SubscriptionInterval::update(), uORB::Subscription::update(), uORB::Subscription::updated(), and vehicle_status_poll().

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◆ task_spawn()

int MulticopterAttitudeControl::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 366 of file mc_att_control_main.cpp.

References init(), ll40ls::instance, and MulticopterAttitudeControl().

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◆ throttle_curve()

float MulticopterAttitudeControl::throttle_curve ( float throttle_stick_input )

private

Definition at line 122 of file mc_att_control_main.cpp.

References f().

Referenced by generate_attitude_setpoint().

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◆ vehicle_status_poll()

void MulticopterAttitudeControl::vehicle_status_poll ( )

private

Definition at line 99 of file mc_att_control_main.cpp.

References _attitude_sp_id, _vehicle_status_sub, ORB_ID, param_find(), param_get(), TAILSITTER, and uORB::Subscription::update().

Referenced by Run().

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Member Data Documentation

◆ _attitude_control

AttitudeControl MulticopterAttitudeControl::_attitude_control

private

class for attitude control calculations

Definition at line 112 of file mc_att_control.hpp.

Referenced by control_attitude(), and parameters_updated().

◆ _attitude_sp_id

orb_id_t MulticopterAttitudeControl::_attitude_sp_id {nullptr}

private

pointer to correct attitude setpoint uORB metadata structure

Definition at line 128 of file mc_att_control.hpp.

Referenced by generate_attitude_setpoint(), and vehicle_status_poll().

◆ _last_run

hrt_abstime MulticopterAttitudeControl::_last_run {0}

private

Definition at line 144 of file mc_att_control.hpp.

Referenced by Run().

◆ _loop_perf

perf_counter_t MulticopterAttitudeControl::_loop_perf

private

loop duration performance counter

Definition at line 138 of file mc_att_control.hpp.

Referenced by print_status(), Run(), and ~MulticopterAttitudeControl().

◆ _man_tilt_max

float MulticopterAttitudeControl::_man_tilt_max

private

maximum tilt allowed for manual flight [rad]

Definition at line 172 of file mc_att_control.hpp.

Referenced by generate_attitude_setpoint(), and parameters_updated().

◆ _man_yaw_sp

float MulticopterAttitudeControl::_man_yaw_sp {0.f}

private

current yaw setpoint in manual mode

Definition at line 142 of file mc_att_control.hpp.

Referenced by generate_attitude_setpoint(), and Run().

◆ _manual_control_sp_sub

uORB::Subscription MulticopterAttitudeControl::_manual_control_sp_sub {ORB_ID(manual_control_setpoint)}

private

manual control setpoint subscription

Definition at line 118 of file mc_att_control.hpp.

Referenced by Run().

◆ _params_sub

uORB::Subscription MulticopterAttitudeControl::_params_sub {ORB_ID(parameter_update)}

private

parameter updates subscription

Definition at line 117 of file mc_att_control.hpp.

Referenced by Run().

◆ _rates_sp

matrix::Vector3f MulticopterAttitudeControl::_rates_sp

private

angular rates setpoint

Definition at line 140 of file mc_att_control.hpp.

Referenced by control_attitude(), publish_rates_setpoint(), and Run().

◆ _reset_yaw_sp

bool MulticopterAttitudeControl::_reset_yaw_sp {true}

private

Definition at line 146 of file mc_att_control.hpp.

Referenced by Run().

◆ _v_att_sp_sub

uORB::Subscription MulticopterAttitudeControl::_v_att_sp_sub {ORB_ID(vehicle_attitude_setpoint)}

private

vehicle attitude setpoint subscription

Definition at line 114 of file mc_att_control.hpp.

Referenced by control_attitude().

◆ _v_control_mode_sub

uORB::Subscription MulticopterAttitudeControl::_v_control_mode_sub {ORB_ID(vehicle_control_mode)}

private

vehicle control mode subscription

Definition at line 116 of file mc_att_control.hpp.

Referenced by Run().

◆ _v_rates_sp_pub

uORB::Publication<vehicle_rates_setpoint_s> MulticopterAttitudeControl::_v_rates_sp_pub {ORB_ID(vehicle_rates_setpoint)}

private

rate setpoint publication

Definition at line 124 of file mc_att_control.hpp.

Referenced by publish_rates_setpoint().

◆ _v_rates_sp_sub

uORB::Subscription MulticopterAttitudeControl::_v_rates_sp_sub {ORB_ID(vehicle_rates_setpoint)}

private

vehicle rates setpoint subscription

Definition at line 115 of file mc_att_control.hpp.

Referenced by Run().

◆ _vehicle_attitude_setpoint_pub

orb_advert_t MulticopterAttitudeControl::_vehicle_attitude_setpoint_pub {nullptr}

private

Definition at line 126 of file mc_att_control.hpp.

Referenced by generate_attitude_setpoint().

◆ _vehicle_attitude_sub

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

private

Definition at line 122 of file mc_att_control.hpp.

Referenced by init(), and Run().

◆ _vehicle_land_detected_sub

uORB::Subscription MulticopterAttitudeControl::_vehicle_land_detected_sub {ORB_ID(vehicle_land_detected)}

private

vehicle land detected subscription

Definition at line 120 of file mc_att_control.hpp.

Referenced by Run().

◆ _vehicle_status_sub

uORB::Subscription MulticopterAttitudeControl::_vehicle_status_sub {ORB_ID(vehicle_status)}

private

vehicle status subscription

Definition at line 119 of file mc_att_control.hpp.

Referenced by vehicle_status_poll().

The documentation for this class was generated from the following files:

src/modules/mc_att_control/mc_att_control.hpp
src/modules/mc_att_control/mc_att_control_main.cpp

Classes

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MulticopterAttitudeControl()

◆ ~MulticopterAttitudeControl()

Member Function Documentation

◆ control_attitude()

◆ custom_command()

◆ DEFINE_PARAMETERS()

◆ generate_attitude_setpoint()

◆ init()

◆ parameters_updated()

◆ print_status()

◆ print_usage()

◆ publish_rates_setpoint()

◆ Run()

◆ task_spawn()

◆ throttle_curve()

◆ vehicle_status_poll()

Member Data Documentation

◆ _attitude_control

◆ _attitude_sp_id

◆ _last_run

◆ _loop_perf

◆ _man_tilt_max

◆ _man_yaw_sp

◆ _manual_control_sp_sub

◆ _params_sub

◆ _rates_sp

◆ _reset_yaw_sp

◆ _v_att_sp_sub

◆ _v_control_mode_sub

◆ _v_rates_sp_pub

◆ _v_rates_sp_sub

◆ _vehicle_attitude_setpoint_pub

◆ _vehicle_attitude_sub

◆ _vehicle_land_detected_sub

◆ _vehicle_status_sub