diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_base.cpp')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.cpp | 36 |
1 files changed, 21 insertions, 15 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp index d21deb715..a3b0340d2 100644 --- a/src/modules/mc_att_control/mc_att_control_base.cpp +++ b/src/modules/mc_att_control/mc_att_control_base.cpp @@ -83,10 +83,12 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() : _I.identity(); } -MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() { +MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() +{ } -void MulticopterAttitudeControlBase::control_attitude(float dt) { +void MulticopterAttitudeControlBase::control_attitude(float dt) +{ float yaw_sp_move_rate = 0.0f; _publish_att_sp = false; @@ -94,7 +96,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { /* manual input, set or modify attitude setpoint */ if (_v_control_mode.flag_control_velocity_enabled - || _v_control_mode.flag_control_climb_rate_enabled) { + || _v_control_mode.flag_control_climb_rate_enabled) { /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ vehicle_attitude_setpoint_poll(); } @@ -121,15 +123,17 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { /* move yaw setpoint */ yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max; _v_att_sp.yaw_body = _wrap_pi( - _v_att_sp.yaw_body + yaw_sp_move_rate * dt); + _v_att_sp.yaw_body + yaw_sp_move_rate * dt); float yaw_offs_max = _params.man_yaw_max / _params.att_p(2); float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw); + if (yaw_offs < -yaw_offs_max) { _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max); } else if (yaw_offs > yaw_offs_max) { _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max); } + _v_att_sp.R_valid = false; _publish_att_sp = true; } @@ -146,7 +150,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { /* update attitude setpoint if not in position control mode */ _v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max; _v_att_sp.pitch_body = -_manual_control_sp.x - * _params.man_pitch_max; + * _params.man_pitch_max; _v_att_sp.R_valid = false; _publish_att_sp = true; } @@ -175,7 +179,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { /* copy rotation matrix back to setpoint struct */ memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], - sizeof(_v_att_sp.R_body)); + sizeof(_v_att_sp.R_body)); _v_att_sp.R_valid = true; } @@ -221,8 +225,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { /* rotation matrix for roll/pitch only rotation */ R_rp = R - * (_I + e_R_cp * e_R_z_sin - + e_R_cp * e_R_cp * (1.0f - e_R_z_cos)); + * (_I + e_R_cp * e_R_z_sin + + e_R_cp * e_R_cp * (1.0f - e_R_z_cos)); } else { /* zero roll/pitch rotation */ @@ -253,13 +257,14 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) { /* limit yaw rate */ _rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, - _params.yaw_rate_max); + _params.yaw_rate_max); /* feed forward yaw setpoint rate */ _rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff; } -void MulticopterAttitudeControlBase::control_attitude_rates(float dt) { +void MulticopterAttitudeControlBase::control_attitude_rates(float dt) +{ /* reset integral if disarmed */ if (!_armed.armed) { _rates_int.zero(); @@ -274,7 +279,7 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) { /* angular rates error */ math::Vector < 3 > rates_err = _rates_sp - rates; _att_control = _params.rate_p.emult(rates_err) - + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int; + + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int; _rates_prev = rates; /* update integral only if not saturated on low limit */ @@ -282,11 +287,11 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) { for (int i = 0; i < 3; i++) { if (fabsf(_att_control(i)) < _thrust_sp) { float rate_i = _rates_int(i) - + _params.rate_i(i) * rates_err(i) * dt; + + _params.rate_i(i) * rates_err(i) * dt; if (isfinite( - rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && - _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) { + rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && + _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) { _rates_int(i) = rate_i; } } @@ -295,7 +300,8 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) { } -void MulticopterAttitudeControlBase::set_actuator_controls() { +void MulticopterAttitudeControlBase::set_actuator_controls() +{ _actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f; _actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f; _actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f; |