[WIP] lqr controller

src/lib/lqr/CMakeLists.txt

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+############################################################################
+#
+#   Copyright (c) 2018-2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(lqr
+	lqr.hpp
+)
+
+# target_link_libraries(lqr PRIVATE geo)

src/lib/lqr/lqr.hpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef LQR_H_
+#define LQR_H_
+
+#include <lib/mathlib/mathlib.h>
+#include <matrix/matrix/math.hpp>
+
+#include <string>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+
+using namespace matrix;
+
+//TODO should be in Matrix utils?
+// see https://github.com/PX4/PX4-Autopilot/blob/0607982b234f4ddc0f8037829fcb051d8cb34b98/src/lib/matrix/matrix/Matrix.hpp#L803-L821
+// why it is under SUPPORT_STDIOSTREAM?
+template<typename Type, size_t M, size_t N>
+void read_matrix(std::string file_path, Matrix<Type, M, N> &matrix_out) {
+
+	static std::ifstream infile;
+	infile.open(file_path);
+
+	if (infile.is_open() == true) {
+		for (unsigned row = 0; row < M; row++) {
+			std::string line;
+			getline(infile, line);
+			std::stringstream this_stream(line);
+			for (unsigned column = 0 ; column < N; column++) {
+				this_stream >> matrix_out(row, column);
+			}
+		}
+		infile.close();
+	} else
+		PX4_ERR("K.txt not opened");
+}
+
+template<size_t STATE_DIM, size_t CONTROL_DIM>
+class Lqr
+{
+public:
+
+	Lqr() {set_K("K.txt");}
+	~Lqr() = default;
+
+	bool update(const Vector<float, STATE_DIM> &x, const Vector<float, STATE_DIM> &x_sp, Vector<float, CONTROL_DIM> &u)
+	{
+		Vector<float, STATE_DIM> delta_x = x_sp - x;
+		u = _K * delta_x;
+
+		return true;
+	}
+
+	void set_K(std::string file_path) {
+		read_matrix(file_path, _K);
+	}
+
+private:
+	// Matrix<float, STATE_DIM, STATE_DIM> _A;
+	// Matrix<float, STATE_DIM, CONTROL_DIM> _B;
+	Matrix<float, CONTROL_DIM, STATE_DIM> _K;
+
+	// Vector<float, STATE_DIM> _x;
+	// Vector<float, CONTROL_DIM> _u;
+	// Vector<float, STATE_DIM> _x_sp;
+	// Vector<float, CONTROL_DIM> _u_sp;
+};
+
+
+#endif /* LQR_H_ */

src/modules/mc_lqr_control/CMakeLists.txt

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+############################################################################
+#
+#   Copyright (c) 2015-2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(LqrControl)
+add_subdirectory(Takeoff)
+
+px4_add_module(
+	MODULE modules__mc_lqr_control
+	MAIN mc_lqr_control
+	COMPILE_FLAGS
+	SRCS
+		MulticopterLqrControl.cpp
+		MulticopterLqrControl.hpp
+	DEPENDS
+		LqrControl
+		Takeoff
+		controllib
+		geo
+		SlewRate
+	)

src/modules/mc_lqr_control/Kconfig

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+menuconfig MODULES_MC_LQR_CONTROL
+	bool "mc_lqr_control"
+	default n
+	---help---
+		Enable support for mc_lqr_control

src/modules/mc_lqr_control/LqrControl/CMakeLists.txt

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+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(LqrControl
+	LqrControl.cpp
+	LqrControl.hpp
+)
+target_include_directories(LqrControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(LqrControl PUBLIC lqr)