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yaw controller: for now do not do turn compensation when inverted and use

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the roll setpoint as limit for turn compensation

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2017-02-12 11:40:14 +01:00
committed by Lorenz Meier
parent 66b7773059
commit 391b6dfd00
1 changed files with 9 additions and 3 deletions
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attitude_fw/ecl_yaw_controller.cpp
+9 -3
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@@ -90,12 +90,14 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
} }
float constrained_roll; float constrained_roll;
bool inverted = false;
/* roll is used as feedforward term and inverted flight needs to be considered */ /* roll is used as feedforward term and inverted flight needs to be considered */
if (fabsf(ctl_data.roll) < math::radians(90.0f)) { if (fabsf(ctl_data.roll) < math::radians(90.0f)) {
/* not inverted, but numerically still potentially close to infinity */ /* not inverted, but numerically still potentially close to infinity */
constrained_roll = math::constrain(ctl_data.roll, math::radians(-80.0f), math::radians(80.0f)); constrained_roll = math::constrain(ctl_data.roll, math::radians(-80.0f), math::radians(80.0f));
} else { } else {
inverted = true;
// inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity // inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity
//note: the ranges are extended by 10 deg here to avoid numeric resolution effects //note: the ranges are extended by 10 deg here to avoid numeric resolution effects
if (ctl_data.roll > 0.0f) { if (ctl_data.roll > 0.0f) {
@@ -108,9 +110,13 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
} }
} }
constrained_roll = math::constrain(constrained_roll, -ctl_data.roll_setpoint, ctl_data.roll_setpoint);
/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
_rate_setpoint = tanf(constrained_roll) * cosf(ctl_data.pitch) * 9.81f / (ctl_data.airspeed < ctl_data.airspeed_min ? ctl_data.airspeed_min : ctl_data.airspeed); if (!inverted) {
/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
_rate_setpoint = tanf(constrained_roll) * cosf(ctl_data.pitch) * 9.81f / (ctl_data.airspeed < ctl_data.airspeed_min ? ctl_data.airspeed_min : ctl_data.airspeed);
}
/* limit the rate */ //XXX: move to body angluar rates /* limit the rate */ //XXX: move to body angluar rates
if (_max_rate > 0.01f) { if (_max_rate > 0.01f) {
@@ -166,7 +172,7 @@ float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data
} }
/* Calculate body angular rate error */ /* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - ctl_data.body_z_rate; //body angular rate error _rate_error = _bodyrate_setpoint - ctl_data.body_z_rate; // body angular rate error
if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) { if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {