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corrected attitude conversion error

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This commit is contained in:
Marvin Harms
2022-04-20 17:24:07 +02:00
parent 4525aa18d9
commit 56edb80d0f
1 changed files with 70 additions and 70 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+70 -70
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@@ -211,7 +211,7 @@ void
FixedwingPositionINDIControl::vehicle_status_poll()
{
if(_vehicle_status_sub.update(&_vehicle_status)){
print_message(_vehicle_status);
//print_message(_vehicle_status);
}
}
@@ -220,23 +220,23 @@ FixedwingPositionINDIControl::vehicle_attitude_poll()
{
if (_vehicle_attitude_sub.update(&_attitude)) {
// transform the reference frame from NED to ENU
Dcmf R_in_ned(_attitude.q);
Dcmf R_in_ned(Quatf(_attitude.q));
_att = Quatf(_R_ned_to_enu*R_in_ned);
//PX4_INFO("attitude quaternion:\t%.4f\t%.4f\t%.4f\t%.4f", (double)_att(0),(double)_att(1),(double)_att(2),(double)_att(3));
}
if(hrt_absolute_time()-_attitude.timestamp > 50_ms){
if(hrt_absolute_time()-_attitude.timestamp > 50_ms && _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD){
PX4_ERR("attitude sample is too old");
//PX4_INFO("time differences:\t%.4f\t%.4f", (double)(hrt_absolute_time()-_attitude.timestamp) , (double)(hrt_absolute_time()-_attitude.timestamp_sample));
}
}
void
FixedwingPositionINDIControl::vehicle_angular_velocity_poll()
{
if (_vehicle_angular_velocity_sub.update(&_angular_vel)) {
_omega = Vector3f(_angular_vel.xyz);
}
if(hrt_absolute_time()-_angular_vel.timestamp > 50_ms){
{ //
// no need to check if it was updated as the main loop is fired based on an update...
//
//PX4_INFO("angular velocity:\t%.4f\t%.4f\t%.4f", (double)_omega(0),(double)_omega(1),(double)_omega(2));
_omega = Vector3f(_angular_vel.xyz);
if(hrt_absolute_time()-_angular_vel.timestamp > 50_ms && _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD){
PX4_ERR("angular velocity sample is too old");
}
}
@@ -246,8 +246,9 @@ FixedwingPositionINDIControl::vehicle_angular_acceleration_poll()
{
if (_vehicle_angular_acceleration_sub.update(&_angular_accel)) {
_alpha = Vector3f(_angular_accel.xyz);
//PX4_INFO("angular accel:\t%.4f\t%.4f\t%.4f", (double)_alpha(0),(double)_alpha(1),(double)_alpha(2));
}
if(hrt_absolute_time()-_angular_accel.timestamp > 50_ms){
if(hrt_absolute_time()-_angular_accel.timestamp > 50_ms && _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD){
PX4_ERR("angular acceleration sample is too old");
}
}
@@ -257,11 +258,12 @@ FixedwingPositionINDIControl::vehicle_local_position_poll()
{
//vehicle_local_position_s pos;
if (_vehicle_local_position_sub.update(&_local_pos)){
_pos = _R_ned_to_enu*Vector3f(_local_pos.x,_local_pos.y,_local_pos.z);
_vel = _R_ned_to_enu*Vector3f(_local_pos.vx,_local_pos.vy,_local_pos.vz);
_acc = _R_ned_to_enu*Vector3f(_local_pos.ax,_local_pos.ay,_local_pos.az);
_pos = _R_ned_to_enu*Vector3f{_local_pos.x,_local_pos.y,_local_pos.z};
_vel = _R_ned_to_enu*Vector3f{_local_pos.vx,_local_pos.vy,_local_pos.vz};
_acc = _R_ned_to_enu*Vector3f{_local_pos.ax,_local_pos.ay,_local_pos.az};
//PX4_INFO("local position:\t%.4f\t%.4f\t%.4f", (double)_pos(0),(double)_pos(1),(double)_pos(2));
}
if(hrt_absolute_time()-_local_pos.timestamp > 50_ms){
if(hrt_absolute_time()-_local_pos.timestamp > 50_ms && _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD){
PX4_ERR("local position sample is too old");
//PX4_INFO("time differences:\t%.4f\t%.4f", (double)(hrt_absolute_time()-_local_pos.timestamp) , (double)(hrt_absolute_time()-_local_pos.timestamp_sample));
}
@@ -335,7 +337,7 @@ FixedwingPositionINDIControl::_read_trajectory_coeffs_csv()
_basis_coeffs_y(14) = -4286.372935f;
_basis_coeffs_y(15) = 679.830536f;
_basis_coeffs_z(0) = 10.f; //4.971065f;
_basis_coeffs_z(0) = 100.f; //4.971065f;
_basis_coeffs_z(1) = -354.548028f;
_basis_coeffs_z(2) = 1506.974164f;
_basis_coeffs_z(3) = -3506.606108f;
@@ -393,7 +395,6 @@ FixedwingPositionINDIControl::Run()
// ============================
// compute reference kinematics
// ============================
/*
// get reference values
float t_ref = _get_closest_t(_pos);
// downscale velocity to match current one,
@@ -406,16 +407,16 @@ FixedwingPositionINDIControl::Run()
Quatf q = _get_attitude_ref(t_ref,T);
Vector3f omega_ref = _get_angular_velocity_ref(t_ref,T); // body angular velocity
Vector3f alpha_ref = _get_angular_acceleration_ref(t_ref,T); // body angular acceleration
*/
/*
//TODO: remove when done with testing
Vector3f pos_ref = _pos + Vector3f{1.f,0.f,1.f}; // in inertial ENU
Vector3f vel_ref = Vector3f{15.f,0.f,0.f}; // in inertial ENU
Vector3f acc_ref = Vector3f{0.f,0.f,0.f}; // gravity-corrected acceleration (ENU)
//Quatf q = _get_attitude_ref(0.f,10.f);
Quatf q = _get_attitude_ref(0.f,10.f);
Vector3f omega_ref = Vector3f{0.f,0.f,0.f}; // body angular velocity
Vector3f alpha_ref = Vector3f{0.f,0.f,0.f}; // body angular acceleration
*/
// =====================
@@ -431,55 +432,53 @@ FixedwingPositionINDIControl::Run()
ocm.timestamp = hrt_absolute_time();
_offboard_control_mode_pub.publish(ocm);
/*
// =====================
// publish control input
// =====================
//_angular_accel_sp = {};
_angular_accel_sp.timestamp = hrt_absolute_time();
_angular_accel_sp.timestamp_sample = hrt_absolute_time();
_angular_accel_sp.xyz[0] = ctrl(0);
_angular_accel_sp.xyz[1] = ctrl(1);
_angular_accel_sp.xyz[2] = ctrl(2);
_angular_accel_sp_pub.publish(_angular_accel_sp);
//print_message(_angular_accel_sp);
// =========================
// publish attitude setpoint
// =========================
_attitude_sp = {};
_attitude_sp.timestamp = hrt_absolute_time();
// transform quaternion back to NED frame
Dcmf R(q);
Quatf q_transformed(_R_enu_to_ned*R);
_attitude_sp.q_d[0] = q_transformed(0);
_attitude_sp.q_d[1] = q_transformed(1);
_attitude_sp.q_d[2] = q_transformed(2);
_attitude_sp.q_d[3] = q_transformed(3);
_attitude_sp_pub.publish(_attitude_sp);
// ======================
// publish rates setpoint
// ======================
_angular_vel_sp = {};
_angular_vel_sp.timestamp = hrt_absolute_time();
_angular_vel_sp.roll = omega_ref(0);
_angular_vel_sp.pitch = omega_ref(1);
_angular_vel_sp.yaw = omega_ref(2);
_angular_vel_sp_pub.publish(_angular_vel_sp);
*/
// ============================
// compute actuator deflections
// ============================
Vector3f ctrl1 = _compute_NDI_stage_2(ctrl);
Vector3f ctrl2 = _compute_actuator_deflections(ctrl1);
// =========================
// publish acutator controls
// =========================
// Publish actuator controls only once in OFFBOARD
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) {
// =====================
// publish control input
// =====================
//_angular_accel_sp = {};
_angular_accel_sp.timestamp = hrt_absolute_time();
_angular_accel_sp.timestamp_sample = hrt_absolute_time();
_angular_accel_sp.xyz[0] = ctrl(0);
_angular_accel_sp.xyz[1] = ctrl(1);
_angular_accel_sp.xyz[2] = ctrl(2);
_angular_accel_sp_pub.publish(_angular_accel_sp);
//print_message(_angular_accel_sp);
// =========================
// publish attitude setpoint
// =========================
_attitude_sp = {};
_attitude_sp.timestamp = hrt_absolute_time();
// transform quaternion back to NED frame
Dcmf R(q);
Quatf q_transformed(_R_enu_to_ned*R);
_attitude_sp.q_d[0] = q_transformed(0);
_attitude_sp.q_d[1] = q_transformed(1);
_attitude_sp.q_d[2] = q_transformed(2);
_attitude_sp.q_d[3] = q_transformed(3);
_attitude_sp_pub.publish(_attitude_sp);
// ======================
// publish rates setpoint
// ======================
_angular_vel_sp = {};
_angular_vel_sp.timestamp = hrt_absolute_time();
_angular_vel_sp.roll = omega_ref(0);
_angular_vel_sp.pitch = omega_ref(1);
_angular_vel_sp.yaw = omega_ref(2);
_angular_vel_sp_pub.publish(_angular_vel_sp);
// ============================
// compute actuator deflections
// ============================
Vector3f ctrl1 = _compute_NDI_stage_2(ctrl);
Vector3f ctrl2 = _compute_actuator_deflections(ctrl1);
// =========================
// publish acutator controls
// =========================
_actuators = {};
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = hrt_absolute_time();
@@ -488,7 +487,7 @@ FixedwingPositionINDIControl::Run()
_actuators.control[actuator_controls_s::INDEX_YAW] = ctrl2(2);
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = 1.0f;
_actuators_0_pub.publish(_actuators);
print_message(_actuators);
//print_message(_actuators);
}
// ===========================
@@ -676,14 +675,15 @@ FixedwingPositionINDIControl::_get_closest_t(Vector3f pos)
distances(i) = (pos_ref - pos)*(pos_ref - pos);
}
// get index of smallest distance
float t = 0;
float t = 0.f;
float min_dist = distances(0);
for(uint i=1; i<n; i++){
if(distances(i)<min_dist){
min_dist = distances(i);
t = float(i)/n;
t = float(i)/float(n);
}
}
PX4_INFO("closest t: %.2f", (double)t);
//PX4_INFO("closest distance:%.2f", (double)min_dist);
return t;
}