diff options
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 6 | ||||
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 44 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 3 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 5 | ||||
| -rwxr-xr-x | src/modules/uORB/topics/vehicle_attitude.h | 1 |
5 files changed, 37 insertions, 22 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 7cf100014..6a1bec153 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -410,7 +410,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds vel(2) = gps.vel_d_m_s; } - } else if (ekf_params.acc_comp == 2 && global_pos_updated && global_pos.valid && hrt_absolute_time() < global_pos.timestamp + 500000) { + } else if (ekf_params.acc_comp == 2 && global_pos.valid && hrt_absolute_time() < global_pos.timestamp + 500000) { vel_valid = true; if (global_pos_updated) { vel_t = global_pos.timestamp; @@ -532,6 +532,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds att.pitchacc = x_aposteriori[4]; att.yawacc = x_aposteriori[5]; + att.g_comp[0] = raw.accelerometer_m_s2[0] - acc(0); + att.g_comp[1] = raw.accelerometer_m_s2[1] - acc(1); + att.g_comp[2] = raw.accelerometer_m_s2[2] - acc(2); + /* copy offsets */ memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 5b5d9f004..cd1c55192 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -798,12 +798,29 @@ MulticopterPositionControl::task_main() } } - if (tilt > tilt_max && thr_min >= 0.0f) { - /* crop horizontal component */ - float k = tanf(tilt_max) / tanf(tilt); - thrust_sp(0) *= k; - thrust_sp(1) *= k; - saturation_xy = true; + if (_control_mode.flag_control_velocity_enabled) { + if (tilt > tilt_max && thr_min >= 0.0f) { + /* crop horizontal component */ + float k = tanf(tilt_max) / tanf(tilt); + thrust_sp(0) *= k; + thrust_sp(1) *= k; + saturation_xy = true; + } + } else { + /* thrust compensation for altitude only control mode */ + float att_comp; + + if (_att.R[2][2] > TILT_COS_MAX) { + att_comp = 1.0f / _att.R[2][2]; + } else if (_att.R[2][2] > 0.0f) { + att_comp = ((1.0f / TILT_COS_MAX - 1.0f) / TILT_COS_MAX) * _att.R[2][2] + 1.0f; + saturation_z = true; + } else { + att_comp = 1.0f; + saturation_z = true; + } + + thrust_sp(2) *= att_comp; } /* limit max thrust */ @@ -854,7 +871,7 @@ MulticopterPositionControl::task_main() thrust_int(2) = 0.0f; } - /* calculate attitude and thrust from thrust vector */ + /* calculate attitude setpoint from thrust vector */ if (_control_mode.flag_control_velocity_enabled) { /* desired body_z axis = -normalize(thrust_vector) */ math::Vector<3> body_x; @@ -910,19 +927,6 @@ MulticopterPositionControl::task_main() _att_sp.roll_body = euler(0); _att_sp.pitch_body = euler(1); /* yaw already used to construct rot matrix, but actual rotation matrix can have different yaw near singularity */ - - } else { - /* thrust compensation for altitude only control mode */ - float att_comp; - - if (_att.R[2][2] > TILT_COS_MAX) - att_comp = 1.0f / _att.R[2][2]; - else if (_att.R[2][2] > 0.0f) - att_comp = ((1.0f / TILT_COS_MAX - 1.0f) / TILT_COS_MAX) * _att.R[2][2] + 1.0f; - else - att_comp = 1.0f; - - thrust_abs *= att_comp; } _att_sp.thrust = thrust_abs; diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index d004a416f..e0bb81e0e 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1161,6 +1161,9 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; + log_msg.body.log_ATT.gx = buf.att.g_comp[0]; + log_msg.body.log_ATT.gy = buf.att.g_comp[1]; + log_msg.body.log_ATT.gz = buf.att.g_comp[2]; LOGBUFFER_WRITE_AND_COUNT(ATT); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index fd8821735..503dc0afc 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -57,6 +57,9 @@ struct log_ATT_s { float roll_rate; float pitch_rate; float yaw_rate; + float gx; + float gy; + float gz; }; /* --- ATSP - ATTITUDE SET POINT --- */ @@ -289,7 +292,7 @@ struct log_PARM_s { /* construct list of all message formats */ static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ - LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"), + LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h index 4380a5ee7..e5a35ff9b 100755 --- a/src/modules/uORB/topics/vehicle_attitude.h +++ b/src/modules/uORB/topics/vehicle_attitude.h @@ -76,6 +76,7 @@ struct vehicle_attitude_s { float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ float q[4]; /**< Quaternion (NED) */ + float g_comp[3]; /**< Compensated gravity vector */ bool R_valid; /**< Rotation matrix valid */ bool q_valid; /**< Quaternion valid */ |