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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-07 16:00:59 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-07 16:00:59 +0100 |
commit | fe279d340dccdd40ebfade4c53893e8f7a77b45e (patch) | |
tree | 6ca7e8517507e097097a45cca384c51d343b5fc7 /src/modules | |
parent | 417a82c699c2512ca3b8998c91c9d77f5d826edb (diff) | |
parent | 6ed2f77ca5c713e537c8fd4a9aacd7adc7887f53 (diff) | |
download | px4-firmware-fe279d340dccdd40ebfade4c53893e8f7a77b45e.tar.gz px4-firmware-fe279d340dccdd40ebfade4c53893e8f7a77b45e.tar.bz2 px4-firmware-fe279d340dccdd40ebfade4c53893e8f7a77b45e.zip |
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts:
Makefile
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 47 |
1 files changed, 30 insertions, 17 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 00e8393bf..d329ba2b0 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -934,19 +934,38 @@ FixedwingAttitudeControl::task_main() } } + /* Prepare data for attitude controllers */ + struct ECL_ControlData control_input = {}; + control_input.roll = _att.roll; + control_input.pitch = _att.pitch; + control_input.yaw = _att.yaw; + control_input.roll_rate = _att.rollspeed; + control_input.pitch_rate = _att.pitchspeed; + control_input.yaw_rate = _att.yawspeed; + control_input.speed_body_u = speed_body_u; + control_input.speed_body_v = speed_body_v; + control_input.speed_body_w = speed_body_w; + control_input.roll_setpoint = roll_sp; + control_input.pitch_setpoint = pitch_sp; + control_input.airspeed_min = _parameters.airspeed_min; + control_input.airspeed_max = _parameters.airspeed_max; + control_input.airspeed = airspeed; + control_input.scaler = airspeed_scaling; + control_input.lock_integrator = lock_integrator; + /* Run attitude controllers */ if (isfinite(roll_sp) && isfinite(pitch_sp)) { - _roll_ctrl.control_attitude(roll_sp, _att.roll); - _pitch_ctrl.control_attitude(pitch_sp, _att.roll, _att.pitch, airspeed); - _yaw_ctrl.control_attitude(_att.roll, _att.pitch, - speed_body_u, speed_body_v, speed_body_w, - _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude + _roll_ctrl.control_attitude(control_input); + _pitch_ctrl.control_attitude(control_input); + _yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude + + /* Update input data for rate controllers */ + control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate(); + control_input.pitch_rate_setpoint = _pitch_ctrl.get_desired_rate(); + control_input.yaw_rate_setpoint = _yaw_ctrl.get_desired_rate(); /* Run attitude RATE controllers which need the desired attitudes from above, add trim */ - float roll_u = _roll_ctrl.control_bodyrate(_att.pitch, - _att.rollspeed, _att.yawspeed, - _yaw_ctrl.get_desired_rate(), - _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); + float roll_u = _roll_ctrl.control_bodyrate(control_input); _actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll; if (!isfinite(roll_u)) { _roll_ctrl.reset_integrator(); @@ -957,10 +976,7 @@ FixedwingAttitudeControl::task_main() } } - float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch, - _att.pitchspeed, _att.yawspeed, - _yaw_ctrl.get_desired_rate(), - _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); + float pitch_u = _pitch_ctrl.control_bodyrate(control_input); _actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch; if (!isfinite(pitch_u)) { _pitch_ctrl.reset_integrator(); @@ -981,10 +997,7 @@ FixedwingAttitudeControl::task_main() } } - float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch, - _att.pitchspeed, _att.yawspeed, - _pitch_ctrl.get_desired_rate(), - _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); + float yaw_u = _yaw_ctrl.control_bodyrate(control_input); _actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw; /* add in manual rudder control */ |