Changed yaw position control to yaw speed control for multirotors, tested with ardrone

2 files changed, 21 insertions, 5 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 337a45215..91439d36d 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -155,6 +155,9 @@ mc_thread_main(int argc, char *argv[])
 	/* store if yaw position or yaw speed has been changed */
 	bool control_yaw_position = true;
 
+	/* store if we stopped a yaw movement */
+	bool first_time_after_yaw_speed_control = true;
+
 	/* prepare the handle for the failsafe throttle */
 	param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR");
 	float failsafe_throttle = 0.0f;
@@ -249,7 +252,7 @@ mc_thread_main(int argc, char *argv[])
 						if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
 					 	    state.flag_control_manual_enabled != flag_control_manual_enabled ||
 					 	    state.flag_system_armed != flag_system_armed) {
-							att_sp.yaw_body = att.yaw;
+							att_sp.yaw_tait_bryan = att.yaw;
 						}
 
 						static bool rc_loss_first_time = true;
@@ -294,16 +297,19 @@ mc_thread_main(int argc, char *argv[])
 								if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
 									rates_sp.yaw = manual.yaw;
 									control_yaw_position = false;
+									first_time_after_yaw_speed_control = true;
 								} else {
-									att_sp.yaw_body = 0.0f;
+									rates_sp.yaw = 0.0f;
+									if(first_time_after_yaw_speed_control) {
+										att_sp.yaw_tait_bryan = att.yaw;
+										first_time_after_yaw_speed_control = false;
+									}
 									control_yaw_position = true;
 								}
 							}
 
 							att_sp.thrust = manual.throttle;
 							att_sp.timestamp = hrt_absolute_time();
-
-							//rates_sp.yaw = manual.yaw;
 						}
 					}
 					/* STEP 2: publish the result to the vehicle actuators */
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index bf908c6dd..87eeaced5 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -181,6 +181,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 	static bool initialized = false;
 
+	static float yaw_error;
+
 	/* initialize the pid controllers when the function is called for the first time */
 	if (initialized == false) {
 		parameters_init(&h);
@@ -218,7 +220,15 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 	if(control_yaw_position) {
 		/* control yaw rate */
-		rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_body), sinf(att->yaw - att_sp->yaw_body)) - (p.yaw_d * att->yawspeed);
+		//rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_tait_bryan), sinf(att->yaw - att_sp->yaw_tait_bryan)) - (p.yaw_d * att->yawspeed);
+		yaw_error = att->yaw - att_sp->yaw_tait_bryan;
+		if ((double)yaw_error > M_PI) {
+			yaw_error -= M_PI;
+		} else if ((double)yaw_error < -M_PI) {
+			yaw_error += M_PI;
+		}
+
+		rates_sp->yaw = - p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
 	}
 	rates_sp->thrust = att_sp->thrust;