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MC pos control: Keep correctly track of velocity and accelerations

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This commit is contained in:
Lorenz Meier
2015-12-18 15:55:16 +00:00
parent f533f6ce19
commit 6ed702094b
1 changed files with 31 additions and 16 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+31 -16
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@@ -235,6 +235,7 @@ private:
math::Vector<3> _vel_prev; /**< velocity on previous step */ math::Vector<3> _vel_prev; /**< velocity on previous step */
math::Vector<3> _vel_ff; math::Vector<3> _vel_ff;
math::Vector<3> _vel_sp_prev; math::Vector<3> _vel_sp_prev;
math::Vector<3> _vel_err_d; /**< derivative of current velocity */
math::Matrix<3, 3> _R; /**< rotation matrix from attitude quaternions */ math::Matrix<3, 3> _R; /**< rotation matrix from attitude quaternions */
float _yaw; /**< yaw angle (euler) */ float _yaw; /**< yaw angle (euler) */
@@ -397,6 +398,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_vel_prev.zero(); _vel_prev.zero();
_vel_ff.zero(); _vel_ff.zero();
_vel_sp_prev.zero(); _vel_sp_prev.zero();
_vel_err_d.zero();
_R.identity(); _R.identity();
@@ -1155,19 +1157,39 @@ MulticopterPositionControl::task_main()
update_ref(); update_ref();
/* Update velocity derivative,
* independent of the current flight mode
*/
if (_local_pos.timestamp > 0) {
if (PX4_ISFINITE(_local_pos.x) &&
PX4_ISFINITE(_local_pos.y) &&
PX4_ISFINITE(_local_pos.z)) {
_pos(0) = _local_pos.x;
_pos(1) = _local_pos.y;
_pos(2) = _local_pos.z;
}
if (PX4_ISFINITE(_local_pos.vx) &&
PX4_ISFINITE(_local_pos.vy) &&
PX4_ISFINITE(_local_pos.vz)) {
_vel(0) = _local_pos.vx;
_vel(1) = _local_pos.vy;
_vel(2) = _local_pos.vz;
}
_vel_err_d(0) = _vel_x_deriv.update(-_vel(0));
_vel_err_d(1) = _vel_y_deriv.update(-_vel(1));
_vel_err_d(2) = _vel_z_deriv.update(-_vel(2));
}
if (_control_mode.flag_control_altitude_enabled || if (_control_mode.flag_control_altitude_enabled ||
_control_mode.flag_control_position_enabled || _control_mode.flag_control_position_enabled ||
_control_mode.flag_control_climb_rate_enabled || _control_mode.flag_control_climb_rate_enabled ||
_control_mode.flag_control_velocity_enabled) { _control_mode.flag_control_velocity_enabled) {
_pos(0) = _local_pos.x;
_pos(1) = _local_pos.y;
_pos(2) = _local_pos.z;
_vel(0) = _local_pos.vx;
_vel(1) = _local_pos.vy;
_vel(2) = _local_pos.vz;
_vel_ff.zero(); _vel_ff.zero();
/* by default, run position/altitude controller. the control_* functions /* by default, run position/altitude controller. the control_* functions
@@ -1341,15 +1363,8 @@ MulticopterPositionControl::task_main()
/* velocity error */ /* velocity error */
math::Vector<3> vel_err = _vel_sp - _vel; math::Vector<3> vel_err = _vel_sp - _vel;
/* derivative of velocity error, /
* does not includes setpoint acceleration */
math::Vector<3> vel_err_d;
vel_err_d(0) = _vel_x_deriv.update(-_vel(0));
vel_err_d(1) = _vel_y_deriv.update(-_vel(1));
vel_err_d(2) = _vel_z_deriv.update(-_vel(2));
/* thrust vector in NED frame */ /* thrust vector in NED frame */
math::Vector<3> thrust_sp = vel_err.emult(_params.vel_p) + vel_err_d.emult(_params.vel_d) + thrust_int; math::Vector<3> thrust_sp = vel_err.emult(_params.vel_p) + _vel_err_d.emult(_params.vel_d) + thrust_int;
if (!_control_mode.flag_control_velocity_enabled) { if (!_control_mode.flag_control_velocity_enabled) {
thrust_sp(0) = 0.0f; thrust_sp(0) = 0.0f;