RPYrT Support. Format checked. #10892

Pedro-Roque · 2018-11-21T17:15:09Z

Test data / coverage
Tested in SITL and flight arena. Here goes a link to the folder with the logs:
https://drive.google.com/open?id=1Ja1JjI3Ggmw383kDTZMdCB0cr3Hd5gfp

Setpoints: All data exchange happens through a SiK Radio (433Mhz), which is way less than ideal for the rates at which we are controlling - I am publishing at 100Hz, but I am pretty sure it can't handle such rates. Iris vehicle with PX4-FMU_v2. These use LPE estimator (these tests were made November 2018). It looks good, except for some points in which the telemetry radio looses connection (makes the UAV drop), but it recovers from it pretty fine. Both position and attitude changes are tested. It seems that the LPE sometimes drops to 0.2m in Z - is there any param I am missing to set? I am running this on an arena with MoCap.

TestWithDisturbances: all data exchanged happends through a Mav-esp with custom firmware. The control frequency is 50Hz, while odometry is fed at 100Hz. Vehicle running Pixracer with the same changes present in this PR. The logs resamble 3 tests on a real UAV performed on a flight arena with Qualisys Mocap. RPYrT setpoints are externally given to the UAV via offboard mode by an in-house developed PID offboard controller, and external unmodeled disturbances are applied to the vehicles. The chain of control is: position setpoint --> PID controller (Offboard) --> RPYrT setpoint --> Attitude controller (onboard).

Describe problem solved by the proposed pull request
Essentially fixes the ignore_bodyrate for all axes, and adds functionality for single-axis only. At the moment, it targets just yawrate control mode.

Describe your preferred solution
Added offboard control mode yawrate, which ignores x and y rates, and uses the z rate as the setpoint for the rate controller. Roll and Pitch setpoints are still used for the attitude control to set the desired UAV attitude. At the moment, the yaw angle is kept to the same one that the UAV has (suggestions for this are welcome!)

Describe possible alternatives

Additional context
Flight tests show that RPYrT setpoints work as expected, as the UAV successfully converges to the right setpoints. Tested successfully in SITL as well.

src/modules/mavlink/mavlink_receiver.cpp

dagar · 2018-11-21T17:51:06Z

src/modules/mc_att_control/mc_att_control_main.cpp

+					} 
+
+					if (_v_control_mode.flag_control_yawrate_override_enabled)
+					{


dagar · 2018-11-21T17:55:57Z

I'm not sure about this one. If I understand the change correctly aren't we going to have multiple rate setpoints publishing simultaneously?

Pedro-Roque · 2019-01-23T13:12:00Z

@dagar , I don't thnink so, as the yaw rate on the Attitude controller is essentially changed to the yaw rate coming from offboard - gets overriden. In simulation it checks out, primary tests also checked out (but some oscillation after about 15s around the setpoint, but this I have an idea on what might cause it.

I plan to do some more flights this week and the next. If all checks out, I will pust logs and videos here.

Pedro-Roque · 2019-01-31T14:07:39Z

@dagar Finally made it to get some time for flight tests. Updated the first PR message with a folder to the logs.

TL;DR: rpyt looks fine!

Pedro-Roque · 2019-03-06T17:13:58Z

@dagar I have more flight tests + working version merged with latest master v1.9 . Let me know if I should push it to this branch to be merged

MaEtUgR · 2019-05-22T15:15:59Z

Discussed in the dev call. @Pedro-Roque rebases on 1.9 state/master and we take a look and do tests such that we can merge it. @julianoes looks for DK support.

RPYrT Support. Format checked. Fixed small code that did nothing mc_att_ctrl: moved control_attitude routine for yawrate setpoints.

MaEtUgR · 2019-05-23T13:33:59Z

@Pedro-Roque Thanks for rebasing 😉

Pedro-Roque · 2019-05-23T13:38:28Z

@Pedro-Roque Thanks for rebasing

Thank you for helping on it! Updated log folder and PR description. Let me know if there is anything else I can help with

EDIT: Just checked that there was some renaming on the mc_pos. Maybe it came from the rebase? Let me know if I should fix it. EDIT2: This is fine, the final version of the code contains the same function names as the master.

mhkabir · 2019-05-23T13:41:17Z

src/modules/mavlink/mavlink_receiver.cpp

@@ -833,8 +833,10 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 		/* yaw ignore flag mapps to ignore_attitude */
 		offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
 		/* yawrate ignore flag mapps to ignore_bodyrate */
-		offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
-
+		// offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);


Remove commented code.

Fixed. also removed l.835

mhkabir · 2019-05-23T13:41:33Z

msg/offboard_control_mode.msg

@@ -5,6 +5,9 @@ uint64 timestamp		# time since system start (microseconds)
 bool ignore_thrust
 bool ignore_attitude
 bool ignore_bodyrate


Remove? Should be unused now.

you mean ignore_bodyrate? Yes can check on that and remove it

Fixed. Removed it and build checks out.

mhkabir · 2019-05-23T13:42:12Z

src/modules/mavlink/mavlink_receiver.cpp

@@ -1383,13 +1401,22 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)

 				/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
 				///XXX add support for ignoring individual axes


Comment now unnecessary

Not sure if unnecessary. I implemented Yawrate control, not for the other axis though. Still WIP

EDIT: moved the comment to the Commander, where additional support is needed.

mhkabir · 2019-05-23T13:43:13Z

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -834,9 +834,17 @@ MulticopterAttitudeControl::run()
 							!_v_control_mode.flag_control_position_enabled) {
 						generate_attitude_setpoint(attitude_dt, reset_yaw_sp);
 						attitude_setpoint_generated = true;
-					}
+					} 


This commit adds Roll Pitch Yawrate Thrust (RPYrT) setpoint control to the PX4 stack, enabling the UAV to follow specific yawrates sent from offboard. It also introduces individual body_rate flags, along the lines of mavros. Tested on a MoCap enabled flight arena in KTH Royal Institute of Technology, Stockholm. The MAV receives RPYrT setpoints from an external PID controller to stabilize around position setpoints. The UAV is also externally disturbed to assess the stability to external unmodeled events. Fixed Kabir comments. Removed deprecated ignore_bodyrate. Fixed integration test.

MaEtUgR · 2019-05-24T07:07:41Z

I created a copy to untangle the changes from existing commits on master: #12061

julianoes · 2019-05-27T08:57:01Z

@MaEtUgR ok which pull request should I now review?

Pedro-Roque · 2019-05-27T10:58:04Z

@MaEtUgR ok which pull request should I now review?

I think the one that @MaEtUgR created, @julianoes .

dagar reviewed Nov 21, 2018

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dagar reviewed Nov 21, 2018

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src/modules/mc_att_control/mc_att_control_main.cpp

}

if (_v_control_mode.flag_control_yawrate_override_enabled)

{

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formatting

weekly-digest bot mentioned this pull request Jan 27, 2019

Weekly Digest (20 January, 2019 - 27 January, 2019) #11307

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weekly-digest bot mentioned this pull request Feb 10, 2019

Weekly Digest (3 February, 2019 - 10 February, 2019) #11425

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weekly-digest bot mentioned this pull request Mar 10, 2019

Weekly Digest (3 March, 2019 - 10 March, 2019) #11614

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MaEtUgR assigned MaEtUgR and RomanBapst May 22, 2019

Takeoff: address @RomanBapst's review comments

bd9f12c

RPYrT Support. Format checked. Fixed small code that did nothing mc_att_ctrl: moved control_attitude routine for yawrate setpoints.

mhkabir reviewed May 23, 2019

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MaEtUgR mentioned this pull request May 24, 2019

RPYrT Support by Pedro-Roque #12061

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weekly-digest bot mentioned this pull request May 26, 2019

Weekly Digest (19 May, 2019 - 26 May, 2019) #12076

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julianoes closed this May 27, 2019

julianoes mentioned this pull request Jul 15, 2019

Support roll, pitch, thrust and yaw rate in OFFBOARD #11602

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RPYrT Support. Format checked. #10892

RPYrT Support. Format checked. #10892

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		@@ -1383,13 +1401,22 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)

		/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
		///XXX add support for ignoring individual axes

RPYrT Support. Format checked. #10892

RPYrT Support. Format checked. #10892

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