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Fixes for roll/pitch feedforward

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Lorenz Meier
2012-11-25 16:42:31 +01:00
parent 346d93b271
commit 20a29bff99
1 changed files with 6 additions and 2 deletions
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apps/fixedwing_att_control/fixedwing_att_control_att.c
+6 -2
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@@ -146,8 +146,12 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
/* Pitch (P) */
float pitch_sp_rollcompensation = att_sp->pitch_body + p.pitch_roll_compensation_p * att_sp->roll_body;
rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(att_sp->roll_body);
/* set pitch plus feedforward roll compensation */
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + pitch_sp_rollcompensation,
att->pitch, 0, 0);
/* Yaw (from coordinated turn constraint or lateral force) */
//TODO