fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 23:33:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

attitude_fw fix style

Browse Source
This commit is contained in:
Daniel Agar
2017-02-12 11:40:14 +01:00
committed by Lorenz Meier
parent f22ad30ef3
commit 674ab3f81b
3 changed files with 25 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
attitude_fw/ecl_wheel_controller.cpp
+15 -15
View File
@@ -54,12 +54,12 @@ ECL_WheelController::ECL_WheelController() :
float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_data)
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.body_z_rate) &&
PX4_ISFINITE(ctl_data.groundspeed) &&
PX4_ISFINITE(ctl_data.groundspeed_scaler))) {
return math::constrain(_last_output, -1.0f, 1.0f);
}
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.body_z_rate) &&
PX4_ISFINITE(ctl_data.groundspeed) &&
PX4_ISFINITE(ctl_data.groundspeed_scaler))) {
return math::constrain(_last_output, -1.0f, 1.0f);
}
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
@@ -76,8 +76,8 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
/* input conditioning */
float min_speed = 1.0f;
/* Calculate body angular rate error */
_rate_error = _rate_setpoint - ctl_data.body_z_rate; //body angular rate error
/* Calculate body angular rate error */
_rate_error = _rate_setpoint - ctl_data.body_z_rate; //body angular rate error
if (!lock_integrator && _k_i > 0.0f && ctl_data.groundspeed > min_speed) {
@@ -102,9 +102,9 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
//xxx: until start detection is available: integral part in control signal is limited here
float integrator_constrained = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* Apply PI rate controller and store non-limited output */
_last_output = _rate_setpoint * _k_ff * ctl_data.groundspeed_scaler +
ctl_data.groundspeed_scaler * ctl_data.groundspeed_scaler * (_rate_error * _k_p + integrator_constrained);
/* Apply PI rate controller and store non-limited output */
_last_output = _rate_setpoint * _k_ff * ctl_data.groundspeed_scaler +
ctl_data.groundspeed_scaler * ctl_data.groundspeed_scaler * (_rate_error * _k_p + integrator_constrained);
return math::constrain(_last_output, -1.0f, 1.0f);
}
@@ -118,10 +118,10 @@ float ECL_WheelController::control_attitude(const struct ECL_ControlData &ctl_da
return _rate_setpoint;
}
/* Calculate the error */
float yaw_error = ctl_data.yaw_setpoint - ctl_data.yaw;
/* shortest angle (wrap around) */
yaw_error = (float)fmod((float)fmod((yaw_error + M_PI_F), M_TWOPI_F) + M_TWOPI_F, M_TWOPI_F) - M_PI_F;
/* Calculate the error */
float yaw_error = ctl_data.yaw_setpoint - ctl_data.yaw;
/* shortest angle (wrap around) */
yaw_error = (float)fmod((float)fmod((yaw_error + M_PI_F), M_TWOPI_F) + M_TWOPI_F, M_TWOPI_F) - M_PI_F;
/* Apply P controller: rate setpoint from current error and time constant */
_rate_setpoint = yaw_error / _tc;