MulticopterRateControl.hpp

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#pragma once

#include <RateControl.hpp>

#include <lib/mathlib/math/filter/LowPassFilter2pVector3f.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/perf/perf_counter.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/ScheduledWorkItem.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/battery_status.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/multirotor_motor_limits.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_control_mode.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>

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

    virtual ~MulticopterRateControl();

    /** @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();

    /**
     * Get the landing gear state based on the manual control switch position
     * @return vehicle_attitude_setpoint_s::LANDING_GEAR_UP or vehicle_attitude_setpoint_s::LANDING_GEAR_DOWN
     */
    float       get_landing_gear_state();

    RateControl _rate_control; ///< class for rate control calculations

    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 _parameter_update_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 _motor_limits_sub{ORB_ID(multirotor_motor_limits)};      /**< motor limits subscription */
    uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};         /**< battery status subscription */
    uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};   /**< vehicle land detected subscription */
    uORB::Subscription _landing_gear_sub{ORB_ID(landing_gear)};

    uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};

    uORB::PublicationMulti<rate_ctrl_status_s>  _controller_status_pub{ORB_ID(rate_ctrl_status), ORB_PRIO_DEFAULT}; /**< controller status publication */
    uORB::Publication<landing_gear_s>       _landing_gear_pub{ORB_ID(landing_gear)};
    uORB::Publication<vehicle_rates_setpoint_s> _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};            /**< rate setpoint publication */

    orb_advert_t    _actuators_0_pub{nullptr};      /**< attitude actuator controls publication */
    orb_id_t _actuators_id{nullptr};    /**< pointer to correct actuator controls0 uORB metadata structure */

    landing_gear_s          _landing_gear{};
    manual_control_setpoint_s   _manual_control_sp{};
    vehicle_control_mode_s      _v_control_mode{};
    vehicle_status_s        _vehicle_status{};

    bool _actuators_0_circuit_breaker_enabled{false};   /**< circuit breaker to suppress output */
    bool _landed{true};
    bool _maybe_landed{true};

    float _battery_status_scale{0.0f};

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

    static constexpr const float initial_update_rate_hz = 1000.f; /**< loop update rate used for initialization */
    float _loop_update_rate_hz{initial_update_rate_hz};          /**< current rate-controller loop update rate in [Hz] */

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

    float       _thrust_sp{0.0f};       /**< thrust setpoint */

    bool _gear_state_initialized{false};        /**< true if the gear state has been initialized */

    hrt_abstime _task_start{hrt_absolute_time()};
    hrt_abstime _last_run{0};
    float _dt_accumulator{0.0f};
    int _loop_counter{0};

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::MC_ROLLRATE_P>) _param_mc_rollrate_p,
        (ParamFloat<px4::params::MC_ROLLRATE_I>) _param_mc_rollrate_i,
        (ParamFloat<px4::params::MC_RR_INT_LIM>) _param_mc_rr_int_lim,
        (ParamFloat<px4::params::MC_ROLLRATE_D>) _param_mc_rollrate_d,
        (ParamFloat<px4::params::MC_ROLLRATE_FF>) _param_mc_rollrate_ff,
        (ParamFloat<px4::params::MC_ROLLRATE_K>) _param_mc_rollrate_k,

        (ParamFloat<px4::params::MC_PITCHRATE_P>) _param_mc_pitchrate_p,
        (ParamFloat<px4::params::MC_PITCHRATE_I>) _param_mc_pitchrate_i,
        (ParamFloat<px4::params::MC_PR_INT_LIM>) _param_mc_pr_int_lim,
        (ParamFloat<px4::params::MC_PITCHRATE_D>) _param_mc_pitchrate_d,
        (ParamFloat<px4::params::MC_PITCHRATE_FF>) _param_mc_pitchrate_ff,
        (ParamFloat<px4::params::MC_PITCHRATE_K>) _param_mc_pitchrate_k,

        (ParamFloat<px4::params::MC_YAWRATE_P>) _param_mc_yawrate_p,
        (ParamFloat<px4::params::MC_YAWRATE_I>) _param_mc_yawrate_i,
        (ParamFloat<px4::params::MC_YR_INT_LIM>) _param_mc_yr_int_lim,
        (ParamFloat<px4::params::MC_YAWRATE_D>) _param_mc_yawrate_d,
        (ParamFloat<px4::params::MC_YAWRATE_FF>) _param_mc_yawrate_ff,
        (ParamFloat<px4::params::MC_YAWRATE_K>) _param_mc_yawrate_k,

        (ParamFloat<px4::params::MC_DTERM_CUTOFF>) _param_mc_dterm_cutoff,          /**< Cutoff frequency for the D-term filter */

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

        (ParamFloat<px4::params::MC_ACRO_R_MAX>) _param_mc_acro_r_max,
        (ParamFloat<px4::params::MC_ACRO_P_MAX>) _param_mc_acro_p_max,
        (ParamFloat<px4::params::MC_ACRO_Y_MAX>) _param_mc_acro_y_max,
        (ParamFloat<px4::params::MC_ACRO_EXPO>) _param_mc_acro_expo,                /**< expo stick curve shape (roll & pitch) */
        (ParamFloat<px4::params::MC_ACRO_EXPO_Y>) _param_mc_acro_expo_y,                /**< expo stick curve shape (yaw) */
        (ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo,          /**< superexpo stick curve shape (roll & pitch) */
        (ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy,            /**< superexpo stick curve shape (yaw) */

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

        (ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,

        (ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl
    )

    matrix::Vector3f _acro_rate_max;    /**< max attitude rates in acro mode */

};