fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 03:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

update ecl l1 and usage for new roll angle setpoint slew rate limit (#10005)

Browse Source 
* added ability to slew rate limit the roll angle output of the l1 controller
* FixedWingPositionControl: this avoids the steps in roll angle setpoint which occur when the controller
switches to a new waypoint
* GroundRoverPositionControl: adapted to new l1 API
This commit is contained in:
Roman Bapst
2018-08-01 20:01:41 +02:00
committed by Daniel Agar
parent ac0988d519
commit 8b1381ead9
5 changed files with 30 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/gnd_pos_control/GroundRoverPositionControl.cpp
+3 -3
View File
@@ -286,7 +286,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f &current_pos
/* waypoint is a plain navigation waypoint or the takeoff waypoint, does not matter */
_gnd_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
_att_sp.roll_body = _gnd_control.nav_roll();
_att_sp.roll_body = _gnd_control.get_roll_setpoint();
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = _gnd_control.nav_bearing();
_att_sp.fw_control_yaw = true;
@@ -298,7 +298,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f &current_pos
_gnd_control.navigate_loiter(curr_wp, current_position, pos_sp_triplet.current.loiter_radius,
pos_sp_triplet.current.loiter_direction, ground_speed_2d);
_att_sp.roll_body = _gnd_control.nav_roll();
_att_sp.roll_body = _gnd_control.get_roll_setpoint();
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = _gnd_control.nav_bearing();
_att_sp.fw_control_yaw = true;
@@ -453,7 +453,7 @@ GroundRoverPositionControl::task_main()
/* set new turn distance */
_gnd_pos_ctrl_status.turn_distance = turn_distance;
_gnd_pos_ctrl_status.nav_roll = _gnd_control.nav_roll();
_gnd_pos_ctrl_status.nav_roll = _gnd_control.get_roll_setpoint();
_gnd_pos_ctrl_status.nav_pitch = 0.0f;
_gnd_pos_ctrl_status.nav_bearing = _gnd_control.nav_bearing();