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/**
* @file mc_att_control_sim.cpp
*
* MC Attitude Controller Interface for usage in a simulator
*
* @author Roman Bapst <bapstr@ethz.ch>
*
*/
#include "mc_att_control_sim.h"
#include <geo/geo.h>
#include <math.h>
#ifdef CONFIG_ARCH_ARM
#else
#include <cmath>
using namespace std;
#endif
MulticopterAttitudeControlSim::MulticopterAttitudeControlSim()
{
/* setup standard gains */
//XXX: make these configurable
_params.att_p(0) = 5.0;
_params.rate_p(0) = 0.05;
_params.rate_i(0) = 0.0;
_params.rate_d(0) = 0.003;
/* pitch gains */
_params.att_p(1) = 5.0;
_params.rate_p(1) = 0.05;
_params.rate_i(1) = 0.0;
_params.rate_d(1) = 0.003;
/* yaw gains */
_params.att_p(2) = 2.8;
_params.rate_p(2) = 0.2;
_params.rate_i(2) = 0.1;
_params.rate_d(2) = 0.0;
_params.yaw_rate_max = 0.5;
_params.yaw_ff = 0.5;
_params.man_roll_max = 0.6;
_params.man_pitch_max = 0.6;
_params.man_yaw_max = 0.6;
}
MulticopterAttitudeControlSim::~MulticopterAttitudeControlSim()
{
}
void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude)
{
math::Quaternion quat;
quat(0) = (float)attitude.w();
quat(1) = (float)attitude.x();
quat(2) = (float)attitude.y();
quat(3) = (float)attitude.z();
_v_att.q[0] = quat(0);
_v_att.q[1] = quat(1);
_v_att.q[2] = quat(2);
_v_att.q[3] = quat(3);
math::Matrix<3, 3> Rot = quat.to_dcm();
_v_att.R[0][0] = Rot(0, 0);
_v_att.R[1][0] = Rot(1, 0);
_v_att.R[2][0] = Rot(2, 0);
_v_att.R[0][1] = Rot(0, 1);
_v_att.R[1][1] = Rot(1, 1);
_v_att.R[2][1] = Rot(2, 1);
_v_att.R[0][2] = Rot(0, 2);
_v_att.R[1][2] = Rot(1, 2);
_v_att.R[2][2] = Rot(2, 2);
_v_att.R_valid = true;
}
void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d &angular_rate)
{
// check if this is consistent !!!
_v_att.rollspeed = angular_rate(0);
_v_att.pitchspeed = angular_rate(1);
_v_att.yawspeed = angular_rate(2);
}
void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference)
{
_v_att_sp.roll_body = control_attitude_thrust_reference(0);
_v_att_sp.pitch_body = control_attitude_thrust_reference(1);
_v_att_sp.yaw_body = control_attitude_thrust_reference(2);
_v_att_sp.thrust = (control_attitude_thrust_reference(3) - 30) * (-1) / 30;
// setup rotation matrix
math::Matrix<3, 3> Rot_sp;
Rot_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
_v_att_sp.R_body[0][0] = Rot_sp(0, 0);
_v_att_sp.R_body[1][0] = Rot_sp(1, 0);
_v_att_sp.R_body[2][0] = Rot_sp(2, 0);
_v_att_sp.R_body[0][1] = Rot_sp(0, 1);
_v_att_sp.R_body[1][1] = Rot_sp(1, 1);
_v_att_sp.R_body[2][1] = Rot_sp(2, 1);
_v_att_sp.R_body[0][2] = Rot_sp(0, 2);
_v_att_sp.R_body[1][2] = Rot_sp(1, 2);
_v_att_sp.R_body[2][2] = Rot_sp(2, 2);
}
void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d &motor_inputs)
{
motor_inputs(0) = _actuators.control[0];
motor_inputs(1) = _actuators.control[1];
motor_inputs(2) = _actuators.control[2];
motor_inputs(3) = _actuators.control[3];
}
