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Merged release_v1.0.0 branch into master

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Lorenz Meier
2015-06-25 21:45:17 +02:00
parent 74bdec2cc6 5b93d92339
commit 454becdae5
73 changed files with 2726 additions and 887 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+19 -12
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@@ -193,12 +193,14 @@ private:
float trim_roll;
float trim_pitch;
float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
int vtol_type; /**< VTOL type: 0 = tailsitter, 1 = tiltrotor */
} _parameters; /**< local copies of interesting parameters */
@@ -241,6 +243,8 @@ private:
param_t man_roll_max;
param_t man_pitch_max;
param_t vtol_type;
} _parameter_handles; /**< handles for interesting parameters */
@@ -404,6 +408,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
_parameter_handles.vtol_type = param_find("VT_TYPE");
/* fetch initial parameter values */
parameters_update();
}
@@ -481,6 +487,8 @@ FixedwingAttitudeControl::parameters_update()
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
param_get(_parameter_handles.vtol_type, &_parameters.vtol_type);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_k_p(_parameters.p_p);
@@ -634,8 +642,9 @@ FixedwingAttitudeControl::task_main()
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vcontrol_mode_sub, 200);
/* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */
orb_set_interval(_att_sub, 17);
/* do not limit the attitude updates in order to minimize latency.
* actuator outputs are still limited by the individual drivers
* properly to not saturate IO or physical limitations */
parameters_update();
@@ -702,10 +711,8 @@ FixedwingAttitudeControl::task_main()
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
if (_vehicle_status.is_vtol) {
/* vehicle type is VTOL, need to modify attitude!
* The following modification to the attitude is vehicle specific and in this case applies
* to tail-sitter models !!!
if (_vehicle_status.is_vtol && _parameters.vtol_type == 0) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.