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fixed errors in turn coordination

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This commit is contained in:
Marvin Harms
2022-07-08 15:12:04 +02:00
parent 9b056cf990
commit 6b7d42eef5
2 changed files with 13 additions and 8 deletions
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Tools/sitl_gazebo
+1 -1
Submodule Tools/sitl_gazebo updated: a3eef9d3a1...59a34c17ff
src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+12 -7
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@@ -1210,22 +1210,27 @@ FixedwingPositionINDIControl::_compute_INDI_stage_1(Vector3f pos_ref, Vector3f v
// ============================================================== // ==============================================================
Vector3f vel_air = _vel - _wind_estimate; Vector3f vel_air = _vel - _wind_estimate;
Vector3f vel_normalized = vel_air.normalized(); Vector3f vel_normalized = vel_air.normalized();
Vector3f f = _mass*_acc; Vector3f f = _mass*(_acc);
Vector3f f_normalized = f.normalized(); Vector3f f_normalized = f.normalized();
// compute ideal angular velocity // compute ideal angular velocity
Vector3f omega_turn_ref_normalized = vel_normalized.cross(f_normalized); Vector3f omega_turn_ref_normalized = vel_normalized.cross(f_normalized);
Vector3f omega_turn_ref; Vector3f omega_turn_ref;
// constuct acc perpendicular to flight path
Vector3f acc_perp = _acc - (_acc*vel_normalized)*vel_normalized;
if (_airspeed_valid&&_airspeed>_stall_speed) { if (_airspeed_valid&&_airspeed>_stall_speed) {
omega_turn_ref = sqrtf(_acc*_acc) / (_airspeed) * R_bi * omega_turn_ref_normalized.normalized(); omega_turn_ref = sqrtf(acc_perp*acc_perp) / (_airspeed) * R_bi * omega_turn_ref_normalized.normalized();
//PX4_INFO("yaw rate ref, yaw rate: \t%.2f\t%.2f", (double)(omega_turn_ref(2)), (double)(omega_filtered(2))); //PX4_INFO("yaw rate ref, yaw rate: \t%.2f\t%.2f", (double)(omega_turn_ref(2)), (double)(omega_filtered(2)));
} }
else { else {
omega_turn_ref = sqrtf(_acc*_acc) / (_stall_speed) * R_bi * omega_turn_ref_normalized.normalized(); omega_turn_ref = sqrtf(acc_perp*acc_perp) / (_stall_speed) * R_bi * omega_turn_ref_normalized.normalized();
//PX4_ERR("No valid airspeed message detected or airspeed to low"); //PX4_ERR("No valid airspeed message detected or airspeed too low");
} }
// transform rate vector to body frame
omega_turn_ref = R_bi*omega_turn_ref;
// not really a accel command, rather a FF-P command // not really a accel command, rather a FF-P command
rot_acc_command(2) = _K_q(2,2)*omega_turn_ref(2) + _K_w(2,2)*(omega_turn_ref(2) - omega_filtered(2)); rot_acc_command(2) = _K_q(2,2)*omega_turn_ref(2);// + _K_w(2,2)*(omega_turn_ref(2) - omega_filtered(2));
return rot_acc_command; return rot_acc_command;
} }
@@ -1265,8 +1270,8 @@ FixedwingPositionINDIControl::_compute_INDI_stage_2(Vector3f ctrl)
deflection(2) = (moment_command(2) + _k_d_yaw*q*omega_filtered(2))/fmaxf((_k_rud*q),0.0001f); deflection(2) = (moment_command(2) + _k_d_yaw*q*omega_filtered(2))/fmaxf((_k_rud*q),0.0001f);
// overwrite rudder deflection with NDI turn coordination (no INDI) // overwrite rudder deflection with NDI turn coordination (no INDI)
Vector3f moment_ref = _inertia*ctrl + _omega.cross(_inertia*_omega); Vector3f moment_ref = _inertia*ctrl + omega_filtered.cross(_inertia*omega_filtered);
deflection(2) = (moment_ref(2) + _k_d_yaw*q*_omega(2)) / fmaxf((_k_rud*q),0.0001f); deflection(2) = (moment_ref(2) + _k_d_yaw*q*omega_filtered(2)) / fmaxf((_k_rud*q),0.0001f);
return deflection; return deflection;
} }