diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp')
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 35 |
1 files changed, 23 insertions, 12 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 36d95bf06..a69153bf0 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -71,7 +71,7 @@ #include <systemlib/err.h> #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> -#include <mathlib/mathlib.h> +#include <lib/mathlib/mathlib.h> #include <lib/geo/geo.h> /** @@ -156,6 +156,7 @@ private: param_t yaw_rate_i; param_t yaw_rate_d; param_t yaw_ff; + param_t yaw_rate_max; param_t man_roll_max; param_t man_pitch_max; @@ -168,6 +169,7 @@ private: math::Vector<3> rate_i; /**< I gain for angular rate error */ math::Vector<3> rate_d; /**< D gain for angular rate error */ float yaw_ff; /**< yaw control feed-forward */ + float yaw_rate_max; /**< max yaw rate */ float man_roll_max; float man_pitch_max; @@ -225,9 +227,9 @@ private: static void task_main_trampoline(int argc, char *argv[]); /** - * Main sensor collection task. + * Main attitude control task. */ - void task_main() __attribute__((noreturn)); + void task_main(); }; namespace mc_att_control @@ -276,6 +278,11 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _params.rate_p.zero(); _params.rate_i.zero(); _params.rate_d.zero(); + _params.yaw_ff = 0.0f; + _params.yaw_rate_max = 0.0f; + _params.man_roll_max = 0.0f; + _params.man_pitch_max = 0.0f; + _params.man_yaw_max = 0.0f; _rates_prev.zero(); _rates_sp.zero(); @@ -298,7 +305,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _params_handles.yaw_rate_i = param_find("MC_YAWRATE_I"); _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); _params_handles.yaw_ff = param_find("MC_YAW_FF"); - + _params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX"); _params_handles.man_roll_max = param_find("MC_MAN_R_MAX"); _params_handles.man_pitch_max = param_find("MC_MAN_P_MAX"); _params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX"); @@ -367,15 +374,16 @@ MulticopterAttitudeControl::parameters_update() _params.rate_d(2) = v; param_get(_params_handles.yaw_ff, &_params.yaw_ff); + param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max); + _params.yaw_rate_max = math::radians(_params.yaw_rate_max); /* manual control scale */ param_get(_params_handles.man_roll_max, &_params.man_roll_max); param_get(_params_handles.man_pitch_max, &_params.man_pitch_max); param_get(_params_handles.man_yaw_max, &_params.man_yaw_max); - - _params.man_roll_max *= M_PI / 180.0; - _params.man_pitch_max *= M_PI / 180.0; - _params.man_yaw_max *= M_PI / 180.0; + _params.man_roll_max = math::radians(_params.man_roll_max); + _params.man_pitch_max = math::radians(_params.man_pitch_max); + _params.man_yaw_max = math::radians(_params.man_yaw_max); return OK; } @@ -478,7 +486,7 @@ MulticopterAttitudeControl::control_attitude(float dt) if (!_v_control_mode.flag_control_climb_rate_enabled) { /* pass throttle directly if not in altitude stabilized mode */ - _v_att_sp.thrust = _manual_control_sp.throttle; + _v_att_sp.thrust = _manual_control_sp.z; publish_att_sp = true; } @@ -496,7 +504,7 @@ MulticopterAttitudeControl::control_attitude(float dt) //} } else { /* move yaw setpoint */ - yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max; + 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.R_valid = false; publish_att_sp = true; @@ -512,8 +520,8 @@ MulticopterAttitudeControl::control_attitude(float dt) if (!_v_control_mode.flag_control_velocity_enabled) { /* update attitude setpoint if not in position control mode */ - _v_att_sp.roll_body = _manual_control_sp.roll * _params.man_roll_max; - _v_att_sp.pitch_body = -_manual_control_sp.pitch * _params.man_pitch_max; + _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; _v_att_sp.R_valid = false; publish_att_sp = true; } @@ -626,6 +634,9 @@ MulticopterAttitudeControl::control_attitude(float dt) /* calculate angular rates setpoint */ _rates_sp = _params.att_p.emult(e_R); + /* limit yaw rate */ + _rates_sp(2) = math::constrain(_rates_sp(2), -_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; } |