FW att controller: yaw controller: separate from ecl_controller

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-10-22 14:43:33 +08:00 · 2023-12-07 17:21:09 +01:00
parent d4206195c6
commit 448292c980
6 changed files with 53 additions and 46 deletions
@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fw_yaw_controller.cpp
+ * Implementation of a simple coordinated turn yaw controller.
+ */
+
+#include "fw_yaw_controller.h"
+#include <float.h>
+#include <lib/geo/geo.h>
+#include <mathlib/mathlib.h>
+
+float YawController::control_yaw(float roll_setpoint, float euler_pitch_rate_setpoint, float roll, float pitch,
+				 float airspeed)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(roll_setpoint) &&
+	      PX4_ISFINITE(roll) &&
+	      PX4_ISFINITE(pitch) &&
+	      PX4_ISFINITE(euler_pitch_rate_setpoint) &&
+	      PX4_ISFINITE(airspeed))) {
+
+		return _body_rate_setpoint;
+	}
+
+	float constrained_roll;
+	bool inverted = false;
+
+	/* roll is used as feedforward term and inverted flight needs to be considered */
+	if (fabsf(roll) < math::radians(90.f)) {
+		/* not inverted, but numerically still potentially close to infinity */
+		constrained_roll = math::constrain(roll, math::radians(-80.f), math::radians(80.f));
+
+	} else {
+		inverted = true;
+
+		// 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
+		if (roll > 0.f) {
+			/* right hemisphere */
+			constrained_roll = math::constrain(roll, math::radians(100.f), math::radians(180.f));
+
+		} else {
+			/* left hemisphere */
+			constrained_roll = math::constrain(roll, math::radians(-180.f), math::radians(-100.f));
+		}
+	}
+
+	constrained_roll = math::constrain(constrained_roll, -fabsf(roll_setpoint), fabsf(roll_setpoint));
+
+
+	if (!inverted) {
+		/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
+		_euler_rate_setpoint = tanf(constrained_roll) * cosf(pitch) * CONSTANTS_ONE_G / airspeed;
+
+		/* Transform setpoint to body angular rates (jacobian) */
+		const float yaw_body_rate_setpoint_raw = -sinf(roll) * euler_pitch_rate_setpoint +
+				cosf(roll) * cosf(pitch) * _euler_rate_setpoint;
+		_body_rate_setpoint = math::constrain(yaw_body_rate_setpoint_raw, -_max_rate, _max_rate);
+	}
+
+	if (!PX4_ISFINITE(_body_rate_setpoint)) {
+		_body_rate_setpoint = 0.f;
+	}
+
+	return _body_rate_setpoint;
+}