WIP: Fixed wing control API #24056

RomanBapst · 2024-11-29T12:33:21Z

Solved Problem

Refactor fixed wing position controller to create flexible control API according to diagram provided.

TODO:

split controllers into separate modules where it makes sense
refactor longitudinal control, only lateral part done until now
handle constraints (throttle, roll) -> similar to what we do for multicopters

Changelog Entry

For release notes:

Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarify page ... / done, read docs.px4.io/...

Alternatives

We could also ...

Test coverage

Unit/integration test: ...
Simulation/hardware testing logs: https://review.px4.io/

Context

Related links, screenshot before/after, video

Signed-off-by: RomanBapst <[email protected]>

github-actions · 2024-12-20T13:13:12Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: -10240 byte (-0.5 %)]

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--------------  -------------- 
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  -0.1%     -15  [ = ]       0    ../../src/drivers/px4io/px4io.cpp
  +1.2%     +13  [ = ]       0    ../../src/drivers/rc_input/ghst_telemetry.cpp
  +0.0%     +19  [ = ]       0    ../../src/drivers/uavcan/uavcan_main.cpp
  +0.0%     +14  [ = ]       0    ../../src/drivers/uavcan/uavcan_servers.cpp
  +0.3%     +15  [ = ]       0    ../../src/lib/adsb/AdsbConflict.cpp
  +0.1%     +15  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
 -28.3% -1.93Ki  [ = ]       0    ../../src/lib/fw_performance_model/PerformanceModel.cpp
  +0.0%      +1  [ = ]       0    ../../src/lib/mixer_module/mixer_module.cpp
  [NEW] +8.53Ki  [ = ]       0    ../../src/lib/npfg/DirectionalGuidance.cpp
  [DEL] -14.9Ki  [ = ]       0    ../../src/lib/npfg/npfg.cpp
  -0.2%     -15  [ = ]       0    ../../src/lib/rtl/rtl_time_estimator.cpp
  [DEL] -12.7Ki  [ = ]       0    ../../src/lib/tecs/TECS.cpp
  +0.4%     +15  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/accelerometerCheck.cpp
  +0.6%     +15  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/baroCheck.cpp
  +0.0%      +1  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp
  +0.4%     +15  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/gyroCheck.cpp
  +0.2%     +15  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp
 -101.4% -23.8Ki  [ = ]       0    [33 Others]
-0.8% -9.31Ki  [ = ]       0    .debug_ranges
 -18.1%    -272  [ = ]       0    ../../src/lib/fw_performance_model/PerformanceModel.cpp
  [NEW] +1.32Ki  [ = ]       0    ../../src/lib/npfg/DirectionalGuidance.cpp
  [DEL] -2.10Ki  [ = ]       0    ../../src/lib/npfg/npfg.cpp
  [DEL] -2.11Ki  [ = ]       0    ../../src/lib/tecs/TECS.cpp
  -2.6%      -8  [ = ]       0    ../../src/lib/version/version.c
 -27.9% -6.50Ki  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  -0.6%      -8  [ = ]       0    ../../src/modules/logger/logged_topics.cpp
  +0.1%      +8  [ = ]       0    ../../src/modules/logger/logger.cpp
  +0.6%    +296  [ = ]       0    [section .debug_ranges]
  [NEW]     +16  [ = ]       0    msg/topics_sources/fw_lateral_control_setpoint.cpp
  [NEW]     +16  [ = ]       0    msg/topics_sources/fw_longitudinal_control_setpoint.cpp
  [NEW]     +16  [ = ]       0    msg/topics_sources/lateral_control_limits.cpp
  [NEW]     +16  [ = ]       0    msg/topics_sources/longitudinal_control_limits.cpp
  -1.5%      -1  [ = ]       0    task/task_cancelpt.c
-0.7% -23.1Ki  [ = ]       0    .debug_str
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  +1.0%    +169  [ = ]       0    ../../src/drivers/adc/ads1115/ads1115_main.cpp
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   +13%     +78  [ = ]       0    ../../src/lib/geo/geo.cpp
 -14.8%     -17  [ = ]       0    ../../src/lib/motion_planning/HeadingSmoothing.cpp
  [NEW]    +396  [ = ]       0    ../../src/lib/npfg/DirectionalGuidance.cpp
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  [NEW]     +66  [ = ]       0    msg/topics_sources/fw_lateral_control_setpoint.cpp
  [NEW]     +76  [ = ]       0    msg/topics_sources/fw_longitudinal_control_setpoint.cpp
  [NEW]     +29  [ = ]       0    msg/topics_sources/lateral_control_limits.cpp
  [NEW]     +34  [ = ]       0    msg/topics_sources/longitudinal_control_limits.cpp
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  -6.1%    -368  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
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  +2.0%     +32  [ = ]       0    ../../src/modules/gimbal/input_mavlink.cpp
  +0.2%    +112  [ = ]       0    [section .symtab]
  [NEW]     +80  [ = ]       0    msg/topics_sources/fw_lateral_control_setpoint.cpp
  [NEW]     +80  [ = ]       0    msg/topics_sources/fw_longitudinal_control_setpoint.cpp
  [NEW]     +48  [ = ]       0    msg/topics_sources/lateral_control_limits.cpp
  [NEW]     +48  [ = ]       0    msg/topics_sources/longitudinal_control_limits.cpp
  -2.5%     -16  [ = ]       0    nsh_envcmds.c
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-0.5% -10.00Ki  -0.5% -10.00Ki    .text
  [NEW] +1.55Ki  [NEW] +1.55Ki    ../../src/lib/npfg/DirectionalGuidance.cpp
  +0.1%    +364  +0.1%    +364    [section .text]
  +1.5%     +76  +1.5%     +76    ../../src/modules/logger/logged_topics.cpp
  [NEW]     +32  [NEW]     +32    msg/topics_sources/fw_lateral_control_setpoint.cpp
  [NEW]     +32  [NEW]     +32    msg/topics_sources/fw_longitudinal_control_setpoint.cpp
  [NEW]     +32  [NEW]     +32    msg/topics_sources/longitudinal_control_limits.cpp
  +2.0%     +24  +2.0%     +24    msg/topics_sources/uORBTopics.cpp
  +0.4%     +16  +0.4%     +16    ../../src/modules/gimbal/input_mavlink.cpp
  [NEW]     +16  [NEW]     +16    msg/topics_sources/lateral_control_limits.cpp
   +75%     +12   +75%     +12    msg/topics_sources/navigator_mission_item.cpp
  +1.1%      +8  +1.1%      +8    ../../src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp
  +0.0%      +4  +0.0%      +4    ../../src/modules/logger/logger.cpp
 -100.0%      -1 -100.0%      -1    [2 Others]
  -0.3%      -4  -0.3%      -4    ../../src/modules/logger/util.cpp
 -27.3%     -12 -27.3%     -12    msg/topics_sources/normalized_unsigned_setpoint.cpp
 -50.0%     -16 -50.0%     -16    msg/topics_sources/logger_status.cpp
  -0.0%     -39  -0.0%     -39    ROMFS/nsh_romfsimg.c
 -46.7%    -660 -46.7%    -660    ../../src/lib/fw_performance_model/PerformanceModel.cpp
  [DEL] -2.61Ki  [DEL] -2.61Ki    ../../src/lib/npfg/npfg.cpp
  [DEL] -4.28Ki  [DEL] -4.28Ki    ../../src/lib/tecs/TECS.cpp
 -16.4% -4.55Ki -16.4% -4.55Ki    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
-0.3%  -127Ki  -0.5% -10.00Ki    TOTAL

Updated: 2024-12-20T13:37:05

Signed-off-by: RomanBapst <[email protected]>

RomanBapst requested review from tstastny and KonradRudin November 29, 2024 12:35

RomanBapst added 11 commits December 20, 2024 15:45

first stab at fw control api

34e7210

Signed-off-by: RomanBapst <[email protected]>

fixes

69f3795

Signed-off-by: RomanBapst <[email protected]>

progress

786e599

Signed-off-by: RomanBapst <[email protected]>

progress

546892a

Signed-off-by: RomanBapst <[email protected]>

progress

6185513

Signed-off-by: RomanBapst <[email protected]>

cleanup

2094a76

Signed-off-by: RomanBapst <[email protected]>

more cleanup

0d1a5bd

Signed-off-by: RomanBapst <[email protected]>

more refactoring

926e8fb

Signed-off-by: RomanBapst <[email protected]>

added underspeed protection & publish complete long control status

611ffd3

Signed-off-by: RomanBapst <[email protected]>

progress

09cad52

Signed-off-by: RomanBapst <[email protected]>

fixes

d73b3a0

Signed-off-by: RomanBapst <[email protected]>

RomanBapst force-pushed the pr-fw_ctrl_api branch from a3b4779 to d73b3a0 Compare December 20, 2024 13:01

cleanup

6cd4c90

Signed-off-by: RomanBapst <[email protected]>

fix CI

b3eb17b

Signed-off-by: RomanBapst <[email protected]>

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WIP: Fixed wing control API #24056

WIP: Fixed wing control API #24056

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