fixed wing offboard attitude setpoint fix #6112

aivian · 2016-12-20T17:58:22Z

Fix #5927 where attitude setpoints from offboard were being overwritten by the RC channels due to some missing flags.

LorenzMeier · 2016-12-21T07:22:47Z

Nice, thanks!

LorenzMeier · 2016-12-26T14:33:54Z

@Tumbili @dagar Can you review for potential side-effects to standard operation? Diff looked good otherwise.

dagar · 2016-12-26T16:54:05Z

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

-					/* advertise and publish */
-					_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
+				if (!(_control_mode.flag_control_offboard_enabled &&
+				      !(_control_mode.flag_control_position_enabled ||


This doesn't cover altitude control mode where position, velocity, acceleration are off.

It might be a bit easier to read like this.

!(A && !B) === !A || B

I'll confess to some unfamiliarity with the flag structure, but wouldn't altitude control mode trigger climb rate enabled?

Yes, you can see them here - https://github.com/PX4/Firmware/blob/master/src/modules/commander/commander.cpp#L3630

So isn't this wrong for altitude control mode?

I think this will work for altitude control. tecs will provide a pitch setpoint, so the L1 controller should publish. The climb rate control flag will prevent the attitude controller from overwriting from the sticks. I'm not sure where the roll command comes from here, but I don't think this update changes that.

Am I missing something there? I'm away from my HiL setup right now so I can't test it.

For altitude control mode we need fw_pos_ctrl to publish an attitude setpoint when position, velocity, acceleration flags are false. The roll comes from the stick input, but currently that's handled in fw_pos_ctrl.

What about other offboard setpoints with position or altitude?

Ah, yeah that will need a check on the climb rate control flag. I think that the other offboard modes should set control_mode flags such that it'll work with a check on climb rate.

I'm having all kinds of trouble with the HiL right now so I can't test unfortunately. Will report back when I get it working.

yzzir · 2017-01-18T17:06:12Z

I'm a little confused on the changes. Isn't the fw position controller code changes to control when to publish the attitude setpoint needed only to prevent the fw position controller from overwriting the published attitude setpoint when a MAVLINK_MSG_ID_SET_ATTITUDE_TARGET message is received? Otherwise wouldn't the same code in the mc position controller also be incorrect?

AndreasAntener · 2017-02-09T09:59:58Z

I checked the setpoint publication conditions and they are actually the same now for MC and FW.

In MC we have:
! ( offboard && ! ( position || velocity || acceleration )

Which can be written as (and should be changed into that form for readability):
! offboard || ( position || velocity || acceleration ) (brackets are also not necessary anymore)

So i think this is good to go.

dagar · 2017-02-09T15:48:53Z

I agree it looks correct now. Is anyone in a position to actually test this?

Build failure appears to be a semaphore issue, restarted.

looks correct now

aivian · 2017-02-09T16:17:12Z

I got my HiL working again, so I can test in sim, but not flight. Do you have suggested cases?

dagar · 2017-02-09T16:23:32Z

Offboard mode with a range of different setpoint types. Quickly flip through stabilized, altitude and position control as well.

AndreasAntener · 2017-02-12T09:44:08Z

@aivian note that #6537 just got merged, which means this would require a rebase and a quick change in the state machine helper to allow fixed-wing going into offboard again.

…de. Fixes PX4#5927 Fixed wing controller was ignoring attitude setpoints from OFFBOARD. The controller never read the flags indicating that the aircraft was in offboard mode so it would generate stabilized mode commands from the manual inputs. and overwrite the OFFBOARD setpoints. A flag was added to fw_att_control_main to prevent generating these setpoints when in offboard mode. A flag was also added to fw_pos_control_l1_main which prevents publishing setpoints from the l1 controller as well (after dagar's suggestion: PX4#5927) fixed code formatting with the fix_code_style script attitude setpoint publish logic modified for clarity fixed formatting errors rebased from px4 master

aivian · 2017-02-13T17:18:58Z

I think I got the rebase done properly. For testing I've re-enabled offboard by simply removing the check for vehicle type. I'm not sure if that's the right solution or if this thread/patch is the right place to address it.

aivian · 2017-02-13T17:28:53Z

Ok, report on modes:

stabilized: works fine
position: lateral stick commands turn rate, throttle stick commands speed, pitch stick commands climb rate

OFFBOARD modes (I'm not sure how may of these should/ever worked)
accel:
input: sinusoidal y acceleration magnitude 5.0 (m/s?)
response: slightly left turn, no sinusoid, no response from sticks

rates:
input: zero rates on all axes
response: immediately rolls inverted and tries to crash

attitude:
input: sinusoidal roll angle command, 30 degree amplitude
response: tracks sinusoidal input well

local position:
input: (0, 0, 0)
output: the aircraft flies as if it is in position control mode

dagar

Looks good to me.

dagar · 2017-02-16T02:37:14Z

This actually needs a tiny change here to allow offboard for FW. https://github.com/PX4/Firmware/blob/master/src/modules/commander/state_machine_helper.cpp#L456

You can either add that here, or I'll make the change after this is merged. It's something I only recently changed in master.

aivian · 2017-02-16T02:45:17Z

Just remove the check for rotary wing? If that's all it is I can add it super-quick, my local version already has that done so I could test.

dagar · 2017-02-16T02:50:26Z

Yes, exactly. d0b188f

aivian · 2017-02-16T03:36:15Z

done

dagar · 2017-02-16T04:51:17Z

Thanks!

LorenzMeier requested review from dagar and RomanBapst December 26, 2016 14:34

dagar previously requested changes Dec 26, 2016

View reviewed changes

AndreasAntener mentioned this pull request Feb 9, 2017

commander FW don't allow entering FOLLOW or OFFBOARD #6537

Merged

aivian force-pushed the fw_offboard_att_sp_fix branch from d820ccb to f9de2de Compare February 13, 2017 16:57

added a flag that should allow fixed wing to go to offboard

59f3262

dagar approved these changes Feb 16, 2017

View reviewed changes

reenabled offboard mode in the state machine helper for fixed wing

1c6fa1c

dagar merged commit 7a77e27 into PX4:master Feb 16, 2017

troffel1 mentioned this pull request Feb 20, 2019

Offboard: Fixed Wing Position Controller does not output Thrust #11512

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fixed wing offboard attitude setpoint fix #6112

fixed wing offboard attitude setpoint fix #6112

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fixed wing offboard attitude setpoint fix #6112

fixed wing offboard attitude setpoint fix #6112

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