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mc att control: ran fix code style script

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This commit is contained in:
Thomas Gubler
2014-12-05 09:02:06 +01:00
parent 4c950eb76b
commit 2f646e7082
5 changed files with 71 additions and 53 deletions
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src/modules/mc_att_control/mc_att_control_base.cpp
+21 -15
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@@ -83,10 +83,12 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
_I.identity();
}
MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() {
MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase()
{
}
void MulticopterAttitudeControlBase::control_attitude(float dt) {
void MulticopterAttitudeControlBase::control_attitude(float dt)
{
float yaw_sp_move_rate = 0.0f;
_publish_att_sp = false;
@@ -94,7 +96,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* manual input, set or modify attitude setpoint */
if (_v_control_mode.flag_control_velocity_enabled
|| _v_control_mode.flag_control_climb_rate_enabled) {
|| _v_control_mode.flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
vehicle_attitude_setpoint_poll();
}
@@ -121,15 +123,17 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* move yaw setpoint */
yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
_v_att_sp.yaw_body = _wrap_pi(
_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
if (yaw_offs < -yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
} else if (yaw_offs > yaw_offs_max) {
_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
}
_v_att_sp.R_valid = false;
_publish_att_sp = true;
}
@@ -146,7 +150,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* update attitude setpoint if not in position control mode */
_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
_v_att_sp.pitch_body = -_manual_control_sp.x
* _params.man_pitch_max;
* _params.man_pitch_max;
_v_att_sp.R_valid = false;
_publish_att_sp = true;
}
@@ -175,7 +179,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* copy rotation matrix back to setpoint struct */
memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0],
sizeof(_v_att_sp.R_body));
sizeof(_v_att_sp.R_body));
_v_att_sp.R_valid = true;
}
@@ -221,8 +225,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* rotation matrix for roll/pitch only rotation */
R_rp = R
* (_I + e_R_cp * e_R_z_sin
+ e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
* (_I + e_R_cp * e_R_z_sin
+ e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
} else {
/* zero roll/pitch rotation */
@@ -253,13 +257,14 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
/* limit yaw rate */
_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max,
_params.yaw_rate_max);
_params.yaw_rate_max);
/* feed forward yaw setpoint rate */
_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
}
void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
void MulticopterAttitudeControlBase::control_attitude_rates(float dt)
{
/* reset integral if disarmed */
if (!_armed.armed) {
_rates_int.zero();
@@ -274,7 +279,7 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
/* angular rates error */
math::Vector < 3 > rates_err = _rates_sp - rates;
_att_control = _params.rate_p.emult(rates_err)
+ _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
+ _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
_rates_prev = rates;
/* update integral only if not saturated on low limit */
@@ -282,11 +287,11 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
for (int i = 0; i < 3; i++) {
if (fabsf(_att_control(i)) < _thrust_sp) {
float rate_i = _rates_int(i)
+ _params.rate_i(i) * rates_err(i) * dt;
+ _params.rate_i(i) * rates_err(i) * dt;
if (isfinite(
rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
_rates_int(i) = rate_i;
}
}
@@ -295,7 +300,8 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
}
void MulticopterAttitudeControlBase::set_actuator_controls() {
void MulticopterAttitudeControlBase::set_actuator_controls()
{
_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;