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pitch controller: removed turn offset compensation form pitch controller

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- turn compensation is included in the desired yawrate

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 55401ec1b0
commit 4057defa53
1 changed files with 0 additions and 45 deletions
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attitude_fw/ecl_pitch_controller.cpp
-45
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@@ -112,51 +112,6 @@ float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_da
lock_integrator = true;
}
/* apply turning offset to desired bodyrate setpoint*/
/* flying inverted (wings upside down)*/
bool inverted = false;
float constrained_roll;
/* roll is used as feedforward term and inverted flight needs to be considered */
if (fabsf(ctl_data.roll) < math::radians(90.0f)) {
/* not inverted, but numerically still potentially close to infinity */
constrained_roll = math::constrain(ctl_data.roll, -fabsf(ctl_data.roll_setpoint), fabsf(ctl_data.roll_setpoint));
} else {
/* inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity */
inverted = true;
/* note: the ranges are extended by 10 deg here to avoid numeric resolution effects */
if (ctl_data.roll > 0.0f) {
/* right hemisphere */
constrained_roll = math::constrain(ctl_data.roll, math::radians(100.0f), math::radians(180.0f));
} else {
/* left hemisphere */
constrained_roll = math::constrain(ctl_data.roll, math::radians(-100.0f), math::radians(-180.0f));
}
}
/* input conditioning */
float airspeed = constrain_airspeed(ctl_data.airspeed, ctl_data.airspeed_min, ctl_data.airspeed_max);
if (ctl_data.do_turn_compensation) {
/* Calculate desired body fixed y-axis angular rate needed to compensate for roll angle.
For reference see Automatic Control of Aircraft and Missiles by John H. Blakelock, pg. 175
Availible on google books 8/11/2015:
https://books.google.com/books?id=ubcczZUDCsMC&pg=PA175#v=onepage&q&f=false*/
float body_fixed_turn_offset = (fabsf((CONSTANTS_ONE_G / airspeed) *
tanf(constrained_roll) * sinf(constrained_roll)));
if (inverted) {
body_fixed_turn_offset = -body_fixed_turn_offset;
}
/* Finally add the turn offset to your bodyrate setpoint*/
_bodyrate_setpoint += body_fixed_turn_offset;
}
_rate_error = _bodyrate_setpoint - ctl_data.body_y_rate;
if (!lock_integrator && _k_i > 0.0f) {