fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 05:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

attitude_fw delete unused and cleanup

Browse Source
This commit is contained in:
Daniel Agar
2017-08-26 17:44:24 -04:00
parent fac292fef9
commit 25bd3ac5e6
12 changed files with 96 additions and 251 deletions
Download Patch File Download Diff File Expand all files Collapse all files
attitude_fw/ecl_pitch_controller.cpp
+18 -32
View File
@@ -35,34 +35,20 @@
* @file ecl_pitch_controller.cpp
* Implementation of a simple orthogonal pitch PID controller.
*
* Authors and acknowledgements in header.
* Authors and acknowledgments in header.
*/
#include "ecl_pitch_controller.h"
#include <math.h>
#include <stdint.h>
#include <float.h>
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
ECL_PitchController::ECL_PitchController() :
ECL_Controller("pitch"),
_max_rate_neg(0.0f),
_roll_ff(0.0f)
{
}
float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_data)
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.pitch_setpoint) &&
PX4_ISFINITE(ctl_data.roll) &&
PX4_ISFINITE(ctl_data.pitch) &&
PX4_ISFINITE(ctl_data.airspeed))) {
warnx("not controlling pitch");
if (!(ISFINITE(ctl_data.pitch_setpoint) &&
ISFINITE(ctl_data.roll) &&
ISFINITE(ctl_data.pitch) &&
ISFINITE(ctl_data.airspeed))) {
ECL_WARN("not controlling pitch");
return _rate_setpoint;
}
@@ -73,14 +59,13 @@ float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_da
_rate_setpoint = pitch_error / _tc;
/* limit the rate */
if (_max_rate > 0.01f && _max_rate_neg > 0.01f) {
if (_max_rate >= 0.0f && _max_rate_neg >= 0.0f) {
if (_rate_setpoint > 0.0f) {
_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
} else {
_rate_setpoint = (_rate_setpoint < -_max_rate_neg) ? -_max_rate_neg : _rate_setpoint;
}
}
return _rate_setpoint;
@@ -89,21 +74,22 @@ float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_da
float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_data)
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.roll) &&
PX4_ISFINITE(ctl_data.pitch) &&
PX4_ISFINITE(ctl_data.body_y_rate) &&
PX4_ISFINITE(ctl_data.body_z_rate) &&
PX4_ISFINITE(ctl_data.yaw_rate_setpoint) &&
PX4_ISFINITE(ctl_data.airspeed_min) &&
PX4_ISFINITE(ctl_data.airspeed_max) &&
PX4_ISFINITE(ctl_data.scaler))) {
if (!(ISFINITE(ctl_data.roll) &&
ISFINITE(ctl_data.pitch) &&
ISFINITE(ctl_data.body_y_rate) &&
ISFINITE(ctl_data.body_z_rate) &&
ISFINITE(ctl_data.yaw_rate_setpoint) &&
ISFINITE(ctl_data.airspeed_min) &&
ISFINITE(ctl_data.airspeed_max) &&
ISFINITE(ctl_data.scaler))) {
return math::constrain(_last_output, -1.0f, 1.0f);
}
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = (float)dt_micros * 1e-6f;
float dt = dt_micros * 1e-6f;
/* lock integral for long intervals */
bool lock_integrator = ctl_data.lock_integrator;