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FW attitude control scaling fixes and cleanup (#15256)

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* FW attitude control scaling fixes and cleanup

This commit aligns the scaling better with the derivations in
https://dev.px4.io/master/en/flight_stack/controller_diagrams.html#airspeed-scaling

Integrator terms now scale with IAS^2 (all three axes)

To match the roll and pitch controllers:
- Yaw integrator scale is now applied during accumulation, not to
  integral value (so now FW_YR_IMAX is respected more intuitively)
- Yaw FF term now scale with IAS instead of IAS^2

Also made a number of small changes to make the three files
  (roll, pitch, yaw) 3-way diffable to be clearer about what the
  differences among them are.

* Remove unused yaw coordination method

- "Coordination method" open vs. closed code removed, since closed
  is never used and not actually implemented.
- No change to behavior

* Remove PX4_WARN messages

Co-authored-by: george <george@campsix.com>
This commit is contained in:
George Anderson
2020-07-10 15:54:39 +02:00
committed by GitHub
co-authored by george
parent f792cc7b6b
commit 94326a29bb
6 changed files with 39 additions and 97 deletions
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src/modules/fw_att_control/ecl_yaw_controller.h
+2 -24
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
* Copyright (c) 2013-2020 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -45,6 +45,7 @@
* which in turn is based on initial work of
* Jonathan Challinger, 2012.
*/
#ifndef ECL_YAW_CONTROLLER_H
#define ECL_YAW_CONTROLLER_H
@@ -61,32 +62,9 @@ public:
float control_euler_rate(const struct ECL_ControlData &ctl_data) override;
float control_bodyrate(const struct ECL_ControlData &ctl_data) override;
/* Additional setters */
void set_coordinated_min_speed(float coordinated_min_speed)
{
_coordinated_min_speed = coordinated_min_speed;
}
void set_coordinated_method(int32_t coordinated_method)
{
_coordinated_method = coordinated_method;
}
enum {
COORD_METHOD_OPEN = 0,
COORD_METHOD_CLOSEACC = 1
};
protected:
float _coordinated_min_speed{1.0f};
float _max_rate{0.0f};
int32_t _coordinated_method{COORD_METHOD_OPEN};
float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data);
float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data);
};
#endif // ECL_YAW_CONTROLLER_H