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Merge pull request #719 from PX4/hotfix_fw_airspeed

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fw_att_control: airspeed is now used correctly
This commit is contained in:
Thomas Gubler
2014-03-21 09:42:59 +01:00
parent b89c509231 b6ea38b91a
commit 398da6a4d6
2 changed files with 28 additions and 36 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+27 -36
View File
@@ -108,14 +108,14 @@ private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
int _att_sub; /**< vehicle attitude subscription */
int _accel_sub; /**< accelerometer subscription */
int _att_sub; /**< vehicle attitude subscription */
int _accel_sub; /**< accelerometer subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _vcontrol_mode_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_sub; /**< notification of manual control updates */
int _params_sub; /**< notification of parameter updates */
int _manual_sub; /**< notification of manual control updates */
int _global_pos_sub; /**< global position subscription */
orb_advert_t _rate_sp_pub; /**< rate setpoint publication */
@@ -123,20 +123,19 @@ private:
orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */
orb_advert_t _actuators_1_pub; /**< actuator control group 1 setpoint (Airframe) */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct accel_report _accel; /**< body frame accelerations */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct accel_report _accel; /**< body frame accelerations */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct vehicle_global_position_s _global_pos; /**< global position */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct vehicle_global_position_s _global_pos; /**< global position */
perf_counter_t _loop_perf; /**< loop performance counter */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
bool _airspeed_valid; /**< flag if the airspeed measurement is valid */
struct {
float tconst;
@@ -245,7 +244,7 @@ private:
/**
* Check for airspeed updates.
*/
bool vehicle_airspeed_poll();
void vehicle_airspeed_poll();
/**
* Check for accel updates.
@@ -308,19 +307,18 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
/* states */
_setpoint_valid(false),
_airspeed_valid(false)
_setpoint_valid(false)
{
/* safely initialize structs */
_att = {0};
_accel = {0};
_att_sp = {0};
_manual = {0};
_airspeed = {0};
_vcontrol_mode = {0};
_actuators = {0};
_actuators_airframe = {0};
_global_pos = {0};
_att = {};
_accel = {};
_att_sp = {};
_manual = {};
_airspeed = {};
_vcontrol_mode = {};
_actuators = {};
_actuators_airframe = {};
_global_pos = {};
_parameter_handles.tconst = param_find("FW_ATT_TC");
@@ -482,7 +480,7 @@ FixedwingAttitudeControl::vehicle_manual_poll()
}
}
bool
void
FixedwingAttitudeControl::vehicle_airspeed_poll()
{
/* check if there is a new position */
@@ -492,10 +490,7 @@ FixedwingAttitudeControl::vehicle_airspeed_poll()
if (airspeed_updated) {
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
// warnx("airspeed poll: ind: %.4f, true: %.4f", _airspeed.indicated_airspeed_m_s, _airspeed.true_airspeed_m_s);
return true;
}
return false;
}
void
@@ -569,7 +564,7 @@ FixedwingAttitudeControl::task_main()
parameters_update();
/* get an initial update for all sensor and status data */
(void)vehicle_airspeed_poll();
vehicle_airspeed_poll();
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
@@ -626,7 +621,7 @@ FixedwingAttitudeControl::task_main()
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
_airspeed_valid = vehicle_airspeed_poll();
vehicle_airspeed_poll();
vehicle_setpoint_poll();
@@ -666,9 +661,9 @@ FixedwingAttitudeControl::task_main()
float airspeed;
/* if airspeed is smaller than min, the sensor is not giving good readings */
if (!_airspeed_valid ||
(_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) ||
!isfinite(_airspeed.indicated_airspeed_m_s)) {
if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) ||
!isfinite(_airspeed.indicated_airspeed_m_s) ||
hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
airspeed = _parameters.airspeed_trim;
} else {
@@ -791,10 +786,6 @@ FixedwingAttitudeControl::task_main()
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", roll_sp, pitch_sp);
}
// warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown",
// airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1],
// _actuators.control[2], _actuators.control[3]);
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
src/modules/sensors/sensors.cpp
+1
View File
@@ -1030,6 +1030,7 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
raw.differential_pressure_counter++;
_airspeed.timestamp = hrt_absolute_time();
_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f,
raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);