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using jacobians in fw attitude control

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Thomas Gubler
2013-10-24 17:39:12 +02:00
parent 8193382ec2
commit 1c57d7de43
5 changed files with 10 additions and 8 deletions
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src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+3 -2
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@@ -58,7 +58,7 @@ ECL_RollController::ECL_RollController() :
}
float ECL_RollController::control(float roll_setpoint, float roll, float roll_rate,
float ECL_RollController::control(float roll_setpoint, float roll, float roll_rate, float pitch, float yaw_rate,
float scaler, bool lock_integrator, float airspeed_min, float airspeed_max, float airspeed)
{
/* get the usual dt estimate */
@@ -79,7 +79,8 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
}
float roll_error = roll_setpoint - roll;
_rate_setpoint = roll_error / _tc;
float phi_dot_setpoint = roll_error / _tc;
_rate_setpoint = phi_dot_setpoint - sinf(pitch) * yaw_rate; //jacobian
/* limit the rate */
if (_max_rate > 0.01f) {