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Merged fixed wing branches

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This commit is contained in:
Lorenz Meier
2012-11-26 21:02:36 +01:00
parent eca12343fd 4366d9e319
commit 80b84819d2
5 changed files with 56 additions and 27 deletions
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apps/fixedwing_att_control/fixedwing_att_control_att.c
+4 -1
View File
@@ -146,6 +146,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
/* Roll (P) */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
/* Pitch (P) */
/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
@@ -156,7 +157,9 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
/* Yaw (from coordinated turn constraint or lateral force) */
rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch));
/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch));
// printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw);
counter++;
apps/fixedwing_att_control/fixedwing_att_control_main.c
+4 -8
View File
@@ -142,8 +142,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
memset(&manual_sp, 0, sizeof(manual_sp));
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
struct debug_key_value_s debug_output;
memset(&debug_output, 0, sizeof(debug_output));
/* output structs */
struct actuator_controls_s actuators;
@@ -156,8 +154,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
}
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
strncpy(debug_output.key, "yaw_rate", sizeof(debug_output.key - 1));
/* subscribe */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -259,7 +255,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
/* directly pass through values */
actuators.control[0] = manual_sp.roll;
@@ -269,10 +264,11 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
actuators.control[3] = manual_sp.throttle;
}
/* publish output */
/* publish rates */
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
/* publish actuator outputs */
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
debug_output.value = rates_sp.yaw;
orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
}
printf("[fixedwing_att_control] exiting, stopping all motors.\n");
apps/fixedwing_att_control/fixedwing_att_control_rate.c
+1 -2
View File
@@ -169,9 +169,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
}
/* Roll Rate (PI) */
/* roll rate (PI) */
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
/* pitch rate (PI) */
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
/* yaw rate (PI) */