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attitude_fw: move angular rate limits to body angular rates (#404)

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This commit is contained in:
Thomas Stastny
2018-03-08 22:19:19 -05:00
committed by Daniel Agar
parent 78e983073a
commit 041886a289
6 changed files with 18 additions and 27 deletions
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attitude_fw/ecl_roll_controller.cpp
+2 -8
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@@ -65,13 +65,6 @@ float ECL_RollController::control_attitude(const struct ECL_ControlData &ctl_dat
/* Apply P controller */
_rate_setpoint = roll_error / _tc;
/* limit the rate */ //XXX: move to body angluar rates
if (_max_rate > 0.01f) {
_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
}
return _rate_setpoint;
}
@@ -136,7 +129,8 @@ float ECL_RollController::control_euler_rate(const struct ECL_ControlData &ctl_d
/* Transform setpoint to body angular rates (jacobian) */
_bodyrate_setpoint = ctl_data.roll_rate_setpoint - sinf(ctl_data.pitch) * ctl_data.yaw_rate_setpoint;
set_bodyrate_setpoint(_bodyrate_setpoint);
return control_bodyrate(ctl_data);
}