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Oneloop Controller: some updates #3261
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8c5d566
initial commit
tmldeponti 46572ed
merge airframes
tmldeponti cee2326
Delete unused airframe
tmldeponti 206702f
code clean up
tmldeponti fefb226
removed unused functions and some extra clean up
tmldeponti 9ef5660
Removed other unused functions
tmldeponti 4bb59da
Leave out rotwing state fr now, will be addressed in the next PR
tmldeponti b5a4d99
Removed ins ext pose quaternion messages from oneloop controller
tmldeponti 7b626f0
Conf for RW3C
tmldeponti d7df024
Added NAV_HYBRID_GOTO_MODE as suggested
tmldeponti fe4bfaf
Use aux 5 to set preferred pitch for the rotating wing drone
tmldeponti d35ee27
Merge remote-tracking branch 'upstream/master' into oneloop_update_PR
tmldeponti 01a5a02
adjusted name
tmldeponti f93fb8b
removed printf
tmldeponti 2ab3add
Use moment defnition in JSBSIM as suggested
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314 changes: 314 additions & 0 deletions
314
conf/airframes/tudelft/rot_wing_v3c_oneloop_optitrack_ext_pose.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,191 @@ | ||
| <!DOCTYPE autopilot SYSTEM "autopilot.dtd"> | ||
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| <autopilot name="Oneloop Autopilot Rotorcraft"> | ||
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| <state_machine name="ap" freq="PERIODIC_FREQUENCY" gcs_mode="true" settings_mode="true" settings_handler="autopilot_generated|SetModeHandler"> | ||
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| <includes> | ||
| <include name="generated/airframe.h"/> | ||
| <include name="autopilot.h"/> | ||
| <include name="autopilot_rc_helpers.h"/> | ||
| <include name="navigation.h"/> | ||
| <include name="guidance.h"/> | ||
| <include name="oneloop/oneloop_andi.h"/> | ||
| <include name="stabilization/stabilization_attitude.h"/> | ||
| <include name="modules/radio_control/radio_control.h"/> | ||
| <include name="modules/gps/gps.h"/> | ||
| <include name="modules/actuators/actuators.h"/> | ||
| <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" cond="ifndef MODE_MANUAL"/> | ||
| <define name="MODE_ONELOOP" value="AP_MODE_MODULE" cond="ifndef MODE_AUTO1"/> | ||
| <define name="MODE_AUTO2" value="AP_MODE_NAV" cond="ifndef MODE_AUTO2"/> | ||
| <define name="RCLost()" value="(radio_control.status == RC_REALLY_LOST)"/> | ||
| <define name="DLModeNav()" value="(autopilot_mode_auto2 == AP_MODE_NAV)"/> | ||
| <define name="DLModeGuided()" value="(autopilot_mode_auto2 == AP_MODE_GUIDED)"/> | ||
| <define name="DLModeModule()" value="(MODE_AUTO1 == AP_MODE_MODULE)"/> | ||
| <define name="DLModeAZH()" value="(MODE_AUTO1 == AP_MODE_ATTITUDE_Z_HOLD)"/> | ||
| <define name="ONELOOP_CONTROLLER" value="TRUE"/> | ||
| </includes> | ||
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| <settings> | ||
| <dl_setting var="autopilot.kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/> | ||
| <dl_setting var="autopilot_mode_auto2" min="2" step="1" max="3" module="autopilot" values="NAV|GUIDED"/> | ||
| </settings> | ||
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| <control_block name="set_commands"> | ||
| <call fun="SetRotorcraftCommands(stabilization_cmd, autopilot_in_flight(), autopilot_get_motors_on())"/> | ||
| </control_block> | ||
|
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| <control_block name="attitude_loop"> | ||
| <call fun="stabilization_attitude_read_rc(autopilot_in_flight(), FALSE, FALSE)"/> | ||
| <call fun="stabilization_attitude_run(autopilot_in_flight())"/> | ||
| </control_block> | ||
|
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| <control_block name="throttle_direct"> | ||
| <call fun="guidance_v_read_rc()"/> | ||
| <call fun="guidance_v_set_z(stateGetPositionNed_i()->z)"/> | ||
| <call fun="stabilization_cmd[COMMAND_THRUST] = guidance_v.rc_delta_t"/> | ||
| </control_block> | ||
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| <control_block name="altitude_loop"> | ||
| <call fun="gv_update_ref_from_z_sp(guidance_v.z_sp)"/> | ||
| <call fun="guidance_v.delta_t = guidance_v_run_pos(autopilot_in_flight(), &guidance_v)"/> | ||
| <call fun="stabilization_cmd[COMMAND_THRUST] = guidance_v.rc_delta_t"/> | ||
| </control_block> | ||
|
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| <exceptions> | ||
| <exception cond="nav.too_far_from_home" deroute="HOME"/> | ||
| <exception cond="kill_switch_is_on()" deroute="KILL"/> | ||
| </exceptions> | ||
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| <mode name="ATTITUDE_DIRECT" shortname="ATT"> | ||
| <select cond="RCMode0()"/> | ||
| <on_enter> | ||
| <call fun="stabilization_attitude_enter()"/> | ||
| </on_enter> | ||
| <control freq="NAVIGATION_FREQUENCY"> | ||
| <call fun="nav_periodic_task()"/> | ||
| </control> | ||
| <control> | ||
| <call_block name="attitude_loop"/> | ||
| <call_block name="throttle_direct"/> | ||
| <call_block name="set_commands"/> | ||
| </control> | ||
| <exception cond="RCLost()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <mode name="NAV"> | ||
| <select cond="RCMode2() && DLModeNav()" exception="HOME"/> | ||
| <on_enter> | ||
| <call fun="oneloop_andi_enter(false, CTRL_INDI)"/> | ||
| </on_enter> | ||
| <control> | ||
| <call fun="nav_periodic_task()"/> | ||
| <call fun="guidance_h_set_pos(nav.carrot.y, nav.carrot.x)"/> | ||
| <call fun="oneloop_from_nav(autopilot_in_flight())"/> | ||
| </control> | ||
| <exception cond="RCLost()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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||
| <mode name="GUIDED"> | ||
| <select cond="RCMode2() && DLModeGuided()" exception="HOME"/> | ||
| <on_enter> | ||
| <call fun="guidance_h_hover_enter()"/> | ||
| <call fun="stabilization_attitude_enter()"/> | ||
| <call fun="guidance_v.mode = GUIDANCE_V_MODE_GUIDED"/> | ||
| <call fun="guidance_v_guided_enter()"/> | ||
| </on_enter> | ||
| <control freq="NAVIGATION_FREQUENCY"> | ||
| <call fun="nav_periodic_task()"/> | ||
| </control> | ||
| <control> | ||
| <call fun="guidance_v_read_rc()"/> | ||
| <call fun="guidance_v_thrust_adapt(autopilot_in_flight())"/> | ||
| <call fun="guidance_v_guided_run(autopilot_in_flight())"/> | ||
| <call fun="guidance_h_guided_run(autopilot_in_flight())"/> | ||
| <call_block name="set_commands"/> | ||
| </control> | ||
| <exception cond="GpsIsLost() && autopilot_in_flight()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <mode name="ATTITUDE_Z_HOLD" shortname="A_ZH"> | ||
| <select cond="RCMode1() && DLModeAZH()"/> | ||
| <on_enter> | ||
| <call fun="guidance_h_hover_enter()"/> | ||
| <call fun="stabilization_attitude_enter()"/> | ||
| <call fun="guidance_v.mode = GUIDANCE_V_MODE_GUIDED"/> | ||
| <call fun="guidance_v_guided_enter()"/> | ||
| </on_enter> | ||
| <control freq="NAVIGATION_FREQUENCY"> | ||
| <call fun="nav_periodic_task()"/> | ||
| </control> | ||
| <control> | ||
| <call fun="guidance_v_read_rc()"/> | ||
| <call fun="guidance_v_thrust_adapt(autopilot_in_flight())"/> | ||
| <call fun="guidance_v_guided_run(autopilot_in_flight())"/> | ||
| <call fun="guidance_h_guided_run(autopilot_in_flight())"/> | ||
| <call_block name="set_commands"/> | ||
| </control> | ||
| <exception cond="GpsIsLost() && autopilot_in_flight()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <mode name="MODULE" shortname="ONE"> | ||
| <select cond="RCMode1() && DLModeModule()" exception="HOME"/> | ||
| <on_enter> | ||
| <call fun="oneloop_andi_enter(false, CTRL_ANDI)"/> | ||
| </on_enter> | ||
| <control> | ||
| <call fun="nav_periodic_task()"/> | ||
| <call fun="guidance_h_set_pos(nav.carrot.y, nav.carrot.x)"/> | ||
| <call fun="oneloop_from_nav(autopilot_in_flight())"/> | ||
| </control> | ||
| <exception cond="RCLost()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <mode name="HOME"> | ||
| <on_enter> | ||
| <call fun="guidance_h_nav_enter()"/> | ||
| </on_enter> | ||
| <control freq="NAVIGATION_FREQUENCY"> | ||
| <call fun="nav_home()"/> | ||
| </control> | ||
| <control> | ||
| <call fun="guidance_v_read_rc()"/> | ||
| <call fun="guidance_v_thrust_adapt(autopilot_in_flight())"/> | ||
| <call fun="guidance_v_from_nav(autopilot_in_flight())"/> | ||
| <call fun="guidance_h_from_nav(autopilot_in_flight())"/> | ||
| </control> | ||
| <exception cond="GpsIsLost()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <!-- Safe landing --> | ||
| <mode name="FAILSAFE" shortname="FAIL"> | ||
| <!-- Failsafe does not work needs to be fixed--> | ||
| <on_enter> | ||
| <call fun="guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB)"/> | ||
| <call fun="guidance_v_set_z(SPEED_BFP_OF_REAL(FAILSAFE_DESCENT_SPEED))"/> | ||
| </on_enter> | ||
| <control> | ||
| <call fun="gv_update_ref_from_zd_sp(guidance_v.zd_sp, stateGetPositionNed_i()->z)"/> | ||
| <call fun="guidance_v_update_ref()"/> | ||
| <call fun="guidance_v.delta_t = guidance_v_run_speed(autopilot_in_flight(), &guidance_v)"/> | ||
| <call_block name="set_commands"/> | ||
| </control> | ||
| <exception cond="!GpsIsLost()" deroute="$LAST_MODE"/> | ||
| </mode> | ||
|
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| <!-- Kill throttle mode --> | ||
| <mode name="KILL"> | ||
| <select cond="kill_switch_is_on()"/> | ||
| <on_enter> | ||
| <call fun="autopilot_set_in_flight(false)"/> | ||
| <call fun="autopilot_set_motors_on(false)"/> | ||
| <call fun="stabilization_cmd[COMMAND_THRUST] = 0"/> | ||
| </on_enter> | ||
| <control> | ||
| <call fun="SetCommands(commands_failsafe)"/> | ||
| </control> | ||
| </mode> | ||
|
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| </state_machine> | ||
|
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| </autopilot> |
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There is a pending PR (#3248) that is changing a lot of things for stabilization, and it should be merged soon. You controller is rather independent since it is based on generated autopilot and with specific control stack, however you should check the changes that might impact you:
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Thank you for the heads up! will keep an eye if some of my code is affected and report/fix it.