mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
Added matrix based actuator mixing. Note the makefile is set to use the original actuator code.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1698 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
les
les
parent
24840b461d
commit
875437f483
@ -38,7 +38,7 @@ USE_BOOTLOADER ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= NO
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CODE_SOURCERY ?= YES
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# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
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TCHAIN_PREFIX ?= arm-none-eabi-
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@ -57,7 +57,13 @@ FLASH_TOOL = OPENOCD
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USE_THUMB_MODE = YES
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# List of modules to include
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MODULES = Telemetry GPS ManualControl Actuator Altitude AHRSComms Stabilization/simple/Stabilization Watchdog
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MODULES = Telemetry GPS ManualControl Altitude AHRSComms Stabilization/simple/Stabilization Watchdog
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#matrix based actuator mixer
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#MODULES += Actuator/matrix/Actuator
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#original actuator with separate mixers for fixed wing, heli and VTOL
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MODULES += Actuator
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#MODULES = Telemetry Example
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#MODULES = Telemetry MK/MKSerial
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#MODULES = Telemetry
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@ -180,6 +186,9 @@ SRC += $(OPUAVOBJ)/homelocation.c
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SRC += $(OPUAVOBJ)/attitudesettings.c
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SRC += $(OPUAVOBJ)/vtolsettings.c
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SRC += $(OPUAVOBJ)/vtolstatus.c
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SRC += $(OPUAVOBJ)/mixersettings.c
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SRC += $(OPUAVOBJ)/mixerstatus.c
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#SRC += $(OPUAVOBJ)/lesstabilizationsettings.c
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endif
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## PIOS Hardware (STM32F10x)
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@ -415,7 +424,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
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CFLAGS += -mapcs-frame
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CFLAGS += -fomit-frame-pointer
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ifeq ($(CODE_SOURCERY), YES)
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CFLAGS += -fpromote-loop-indices
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endif
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CFLAGS += -Wall
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CFLAGS += -Werror
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@ -465,7 +476,7 @@ UNAME := $(shell uname)
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ifeq ($(UNAME), Darwin)
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OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
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else
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OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
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OOCD_CL+=-f ../Project/OpenOCD/floss-jtag-revb.cfg -f ../Project/OpenOCD/stm32.cfg
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endif
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# initialize
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OOCD_CL+=-c init
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@ -0,0 +1,373 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup ActuatorModule Actuator Module
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* @brief Compute servo/motor settings based on @ref ActuatorDesired "desired actuator positions" and aircraft type.
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* This is where all the mixing of channels is computed.
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* @{
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*
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* @file actuator.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Actuator module. Drives the actuators (servos, motors etc).
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "actuator.h"
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#include "actuatorsettings.h"
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//#include "vtolsettings.h"
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#include "systemsettings.h"
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#include "actuatordesired.h"
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#include "actuatorcommand.h"
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#include "manualcontrolcommand.h"
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#include "mixersettings.h"
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#include "mixerstatus.h"
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// Private constants
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#define MAX_QUEUE_SIZE 2
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#define STACK_SIZE configMINIMAL_STACK_SIZE
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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#define FAILSAFE_TIMEOUT_MS 100
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// Private types
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// Private variables
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static xQueueHandle queue;
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static xTaskHandle taskHandle;
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// Private functions
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static void actuatorTask(void* parameters);
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static int32_t RunMixers(ActuatorCommandData * command, ActuatorSettingsData* settings);
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static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
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static void setFailsafe();
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static float MixerCurve(const float throttle, const float* curve);
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float ProcessMixer(const int index, const float curve1, const float curve2,
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MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
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const float period);
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/**
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* @brief Module initialization
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* @return 0
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*/
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int32_t ActuatorInitialize()
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{
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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// Listen for ExampleObject1 updates
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ActuatorDesiredConnectQueue(queue);
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// Start main task
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xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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return 0;
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}
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/**
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* @brief Main module task
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*/
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static void actuatorTask(void* parameters)
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{
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// UAVObjEvent ev;
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portTickType lastSysTime;
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ActuatorCommandData command;
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ActuatorSettingsData settings;
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// Set servo update frequency (done only on start-up)
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ActuatorSettingsGet(&settings);
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PIOS_Servo_SetHz(settings.ChannelUpdateFreq[0], settings.ChannelUpdateFreq[1]);
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// Go to the neutral (failsafe) values until an ActuatorDesired update is received
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setFailsafe();
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1)
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{
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ActuatorCommandGet(&command);
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ActuatorSettingsGet(&settings);
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if ( RunMixers(&command, &settings) == -1 )
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{
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AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
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}
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else
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{
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AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
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}
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// Update output object
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ActuatorCommandSet(&command);
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// Update in case read only (eg. during servo configuration)
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ActuatorCommandGet(&command);
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// Update servo outputs
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for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
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{
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PIOS_Servo_Set( n, command.Channel[n] );
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}
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// Wait until next update
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vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS );
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}
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}
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/**
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* Universal matrix based mixer for VTOL, helis and fixed wing.
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* Converts desired roll,pitch,yaw and throttle to servo/ESC outputs.
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*
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* Because of how the Throttle ranges from 0 to 1, the motors should too!
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*
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* Note this code depends on the UAVObjects for the mixers being all being the same
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* and in sequence. If you change the object definition, make sure you check the code!
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*
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* @return -1 if error, 0 if success
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*/
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//this structure is equivalent to the UAVObjects for one mixer.
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typedef struct {
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uint8_t type;
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float matrix[5];
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} __attribute__((packed)) Mixer_t;
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#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM
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static int32_t RunMixers(ActuatorCommandData* command, ActuatorSettingsData* settings)
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{
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SystemSettingsData sysSettings;
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MixerSettingsData mixerSettings;
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ActuatorDesiredData desired;
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MixerStatusData mixerStatus;
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SystemSettingsGet(&sysSettings);
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MixerStatusGet(&mixerStatus);
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MixerSettingsGet (&mixerSettings);
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ActuatorDesiredGet(&desired);
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float * status = (float *)&mixerStatus; //access status objects as an array of floats
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int nMixers = 0;
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Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer0Type;
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for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
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{
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if(mixers[ct].type != MIXERSETTINGS_MIXER0TYPE_DISABLED)
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{
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nMixers ++;
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}
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}
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if(nMixers < 2) //Nothing can fly with less than two mixers.
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{
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return(-1);
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}
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ManualControlCommandData manualControl;
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ManualControlCommandGet(&manualControl);
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float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
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float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
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for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
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{
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if(mixers[ct].type != MIXERSETTINGS_MIXER0TYPE_DISABLED)
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{
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status[ct] = scaleChannel(ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, settings->UpdatePeriod),
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settings->ChannelMax[ct],
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settings->ChannelMin[ct],
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settings->ChannelNeutral[ct]);
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if(manualControl.Armed != MANUALCONTROLCOMMAND_ARMED_TRUE &&
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mixers[ct].type == MIXERSETTINGS_MIXER0TYPE_MOTOR)
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{
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command->Channel[ct] = -1; //force zero throttle
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}else
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{
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command->Channel[ct] = status[ct]; //servos always follow command
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}
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}
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}
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MixerStatusSet(&mixerStatus);
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return(0);
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}
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/**
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*Process mixing for one actuator
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*/
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float ProcessMixer(const int index, const float curve1, const float curve2,
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MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
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{
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static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer0Type; //pointer to array of mixers in UAVObjects
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Mixer_t * mixer = &mixers[index];
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float result = (mixer->matrix[MIXERSETTINGS_MIXER0MATRIX_THROTTLECURVE1] * curve1) +
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(mixer->matrix[MIXERSETTINGS_MIXER0MATRIX_THROTTLECURVE2] * curve2) +
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(mixer->matrix[MIXERSETTINGS_MIXER0MATRIX_ROLL] * desired->Roll) +
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(mixer->matrix[MIXERSETTINGS_MIXER0MATRIX_PITCH] * desired->Pitch) +
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(mixer->matrix[MIXERSETTINGS_MIXER0MATRIX_YAW] * desired->Yaw);
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if(mixer->type == MIXERSETTINGS_MIXER0TYPE_MOTOR)
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{
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if(result < 0) //idle throttle
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{
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result = 0;
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}
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//feed forward
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float accumulator = filterAccumulator[index];
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accumulator += (result - lastResult[index]) * mixerSettings->FeedForward;
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lastResult[index] = result;
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result += accumulator;
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if(accumulator > 0)
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{
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float filter = mixerSettings->AccelTime / period;
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if(filter <1)
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{
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filter = 1;
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}
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accumulator -= accumulator / filter;
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}else
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{
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float filter = mixerSettings->DecelTime / period;
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if(filter <1)
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{
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filter = 1;
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}
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accumulator -= accumulator / filter;
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}
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filterAccumulator[index] = accumulator;
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result += accumulator;
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//acceleration limit
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float dt = result - lastFilteredResult[index];
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float maxDt = mixerSettings->MaxAccel * (period / 1000);
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if(dt > maxDt) //we are accelerating too hard
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{
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result = lastFilteredResult[index] + maxDt;
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}
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lastFilteredResult[index] = result;
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}
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return(result);
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}
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/**
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*Interpolate a throttle curve. Throttle input should be in the range 0 to 1.
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*Output is in the range 0 to 1.
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*/
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#define MIXER_CURVE_ENTRIES 5
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static float MixerCurve(const float throttle, const float* curve)
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{
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float scale = throttle * MIXER_CURVE_ENTRIES;
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int idx1 = scale;
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scale -= (float)idx1; //remainder
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if(curve[0] < -1)
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{
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return(throttle);
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}
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if (idx1 < 0)
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{
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idx1 = 0; //clamp to lowest entry in table
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scale = 0;
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}
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int idx2 = idx1 + 1;
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if(idx2 >= MIXER_CURVE_ENTRIES)
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{
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idx2 = MIXER_CURVE_ENTRIES -1; //clamp to highest entry in table
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if(idx1 >= MIXER_CURVE_ENTRIES)
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{
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idx1 = MIXER_CURVE_ENTRIES -1;
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}
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}
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return((curve[idx1] * (1 - scale)) + (curve[idx2] * scale));
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}
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/**
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* Convert channel from -1/+1 to servo pulse duration in microseconds
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*/
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static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral)
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{
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int16_t valueScaled;
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// Scale
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if ( value >= 0.0)
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{
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valueScaled = (int16_t)(value*((float)(max-neutral))) + neutral;
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}
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else
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{
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valueScaled = (int16_t)(value*((float)(neutral-min))) + neutral;
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}
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if (max>min)
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{
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if( valueScaled > max ) valueScaled = max;
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if( valueScaled < min ) valueScaled = min;
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}
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else
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{
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if( valueScaled < max ) valueScaled = max;
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if( valueScaled > min ) valueScaled = min;
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}
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return valueScaled;
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}
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/**
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* Set actuator output to the neutral values (failsafe)
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*/
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static void setFailsafe()
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{
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ActuatorCommandData command;
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ActuatorSettingsData settings;
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ActuatorCommandGet(&command);
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ActuatorSettingsGet(&settings);
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// Reset ActuatorCommand to neutral values
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for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
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{
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command.Channel[n] = settings.ChannelNeutral[n];
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}
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// Set alarm
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AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
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// Update servo outputs
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for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
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{
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PIOS_Servo_Set( n, command.Channel[n] );
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}
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// Update output object
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ActuatorCommandSet(&command);
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}
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/**
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* @}
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||||
* @}
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*/
|
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@ -0,0 +1,42 @@
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/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup ActuatorModule Actuator Module
|
||||
* @brief Compute servo/motor settings based on @ref ActuatorDesired "desired actuator positions" and aircraft type.
|
||||
* This is where all the mixing of channels is computed.
|
||||
* @{
|
||||
*
|
||||
* @file actuator.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Actuator module. Drives the actuators (servos, motors etc).
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
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#ifndef ACTUATOR_H
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#define ACTUATOR_H
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int32_t ActuatorInitialize();
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#endif // ACTUATOR_H
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/**
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* @}
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||||
* @}
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||||
*/
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@ -52,6 +52,8 @@
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#include "homelocation.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "manualcontrolsettings.h"
|
||||
#include "mixersettings.h"
|
||||
#include "mixerstatus.h"
|
||||
#include "navigationdesired.h"
|
||||
#include "navigationsettings.h"
|
||||
#include "objectpersistence.h"
|
||||
@ -95,6 +97,8 @@ void UAVObjectsInitializeAll()
|
||||
HomeLocationInitialize();
|
||||
ManualControlCommandInitialize();
|
||||
ManualControlSettingsInitialize();
|
||||
MixerSettingsInitialize();
|
||||
MixerStatusInitialize();
|
||||
NavigationDesiredInitialize();
|
||||
NavigationSettingsInitialize();
|
||||
ObjectPersistenceInitialize();
|
||||
|
||||
@ -45,7 +45,9 @@ HEADERS += uavobjects_global.h \
|
||||
homelocation.h \
|
||||
vtolsettings.h \
|
||||
vtolstatus.h \
|
||||
attitudesettings.h
|
||||
attitudesettings.h \
|
||||
mixersettings.h \
|
||||
mixerstatus.h
|
||||
SOURCES += uavobject.cpp \
|
||||
uavmetaobject.cpp \
|
||||
uavobjectmanager.cpp \
|
||||
@ -87,5 +89,7 @@ SOURCES += uavobject.cpp \
|
||||
homelocation.cpp \
|
||||
vtolsettings.cpp \
|
||||
vtolstatus.cpp \
|
||||
attitudesettings.cpp
|
||||
attitudesettings.cpp \
|
||||
mixersettings.cpp \
|
||||
mixerstatus.cpp
|
||||
OTHER_FILES += UAVObjects.pluginspec
|
||||
|
||||
@ -54,6 +54,8 @@
|
||||
#include "homelocation.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "manualcontrolsettings.h"
|
||||
#include "mixersettings.h"
|
||||
#include "mixerstatus.h"
|
||||
#include "navigationdesired.h"
|
||||
#include "navigationsettings.h"
|
||||
#include "objectpersistence.h"
|
||||
@ -97,6 +99,8 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
|
||||
objMngr->registerObject( new HomeLocation() );
|
||||
objMngr->registerObject( new ManualControlCommand() );
|
||||
objMngr->registerObject( new ManualControlSettings() );
|
||||
objMngr->registerObject( new MixerSettings() );
|
||||
objMngr->registerObject( new MixerStatus() );
|
||||
objMngr->registerObject( new NavigationDesired() );
|
||||
objMngr->registerObject( new NavigationSettings() );
|
||||
objMngr->registerObject( new ObjectPersistence() );
|
||||
|
||||
31
ground/src/shared/uavobjectdefinition/mixersettings.xml
Normal file
31
ground/src/shared/uavobjectdefinition/mixersettings.xml
Normal file
@ -0,0 +1,31 @@
|
||||
<xml>
|
||||
<object name="MixerSettings" singleinstance="true" settings="true">
|
||||
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
|
||||
<field name="MaxAccel" units="units/sec" type="float" elements="1" defaultvalue="1000"/>
|
||||
<field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="-10"/>
|
||||
<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="-10"/>
|
||||
<field name="Mixer0Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer0Matrix" units="" type="float" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer1Matrix" units="" type="float" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer2Matrix" units="" type="float" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer3Matrix" units="" type="float" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer4Matrix" units="" type="float" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer5Matrix" units="" type="float" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer6Matrix" units="" type="float" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer7Matrix" units="" type="float" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
17
ground/src/shared/uavobjectdefinition/mixerstatus.xml
Normal file
17
ground/src/shared/uavobjectdefinition/mixerstatus.xml
Normal file
@ -0,0 +1,17 @@
|
||||
<xml>
|
||||
<object name="MixerStatus" singleinstance="true" settings="false">
|
||||
<description>Status for the matrix mixer showing the output of each mixer after all scaling</description>
|
||||
<field name="Mixer0" units="us" type="float" elements="1"/>
|
||||
<field name="Mixer1" units="us" type="float" elements="1"/>
|
||||
<field name="Mixer2" units="us" type="float" elements="1"/>
|
||||
<field name="Mixer3" units="us" type="float" elements="1"/>
|
||||
<field name="Mixer4" units="us" type="float" elements="1"/>
|
||||
<field name="Mixer5" units="us" type="float" elements="1"/>
|
||||
<field name="Mixer6" units="us" type="float" elements="1"/>
|
||||
<field name="Mixer7" units="us" type="float" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="periodic" period="1000"/>
|
||||
</object>
|
||||
</xml>
|
||||
Loading…
x
Reference in New Issue
Block a user