diff options
Diffstat (limited to 'src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp')
| -rw-r--r-- | src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp | 23 |
1 files changed, 21 insertions, 2 deletions
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp index a46163e6f..b7fce5029 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp @@ -245,6 +245,10 @@ MulticopterPositionControl::reset_alt_sp() _reset_alt_sp = false; _pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2); + //XXX hack until #1741 is in/ported + /* reset yaw sp */ + _att_sp_msg.data().yaw_body = _att->data().yaw; + //XXX: port this once a mavlink like interface is available // mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %d", -(int)_pos_sp(2)); PX4_INFO("[mpc] reset alt sp: %2.3f", -(double)_pos_sp(2)); @@ -297,6 +301,22 @@ MulticopterPositionControl::control_manual(float dt) _sp_move_rate /= sp_move_norm; } + /* move yaw setpoint */ + //XXX hardcoded hack until #1741 is in/ported (the values stem + //from default param values, see how yaw setpoint is moved in the attitude controller) + float yaw_sp_move_rate = _manual_control_sp->data().r * 120.0f * M_DEG_TO_RAD_F; + _att_sp_msg.data().yaw_body = _wrap_pi( + _att_sp_msg.data().yaw_body + yaw_sp_move_rate * dt); + float yaw_offs_max = 120.0f * M_DEG_TO_RAD_F / 2.0f; + float yaw_offs = _wrap_pi(_att_sp_msg.data().yaw_body - _att->data().yaw); + + if (yaw_offs < -yaw_offs_max) { + _att_sp_msg.data().yaw_body = _wrap_pi(_att->data().yaw - yaw_offs_max); + + } else if (yaw_offs > yaw_offs_max) { + _att_sp_msg.data().yaw_body = _wrap_pi(_att->data().yaw + yaw_offs_max); + } + /* _sp_move_rate scaled to 0..1, scale it to max speed and rotate around yaw */ math::Matrix<3, 3> R_yaw_sp; R_yaw_sp.from_euler(0.0f, 0.0f, _att_sp_msg.data().yaw_body); @@ -627,8 +647,7 @@ void MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti _att_sp_msg.data().R_valid = true; _att_sp_msg.data().roll_body = 0.0f; - _att_sp_msg.data().pitch_body = 0.0f; - _att_sp_msg.data().yaw_body = _att->data().yaw; + // _att_sp_msg.data().yaw_body = _att->data().yaw; _att_sp_msg.data().thrust = 0.0f; _att_sp_msg.data().timestamp = get_time_micros(); |