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Compiling attitude control, ready for tests

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Lorenz Meier
2013-09-08 20:04:39 +02:00
parent 2697790aa5
commit 9b48fe3622
5 changed files with 33 additions and 17 deletions
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src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+12 -7
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@@ -39,6 +39,11 @@
#include "../ecl.h"
#include "ecl_roll_controller.h"
#include <stdint.h>
#include <float.h>
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
ECL_RollController::ECL_RollController() :
_last_run(0),
@@ -61,7 +66,7 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
float k_ff = max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_i_rate = _k_i * _tc;
/* input conditioning */
@@ -86,7 +91,7 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
float ilimit_scaled = 0.0f;
if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5 * airspeed_min) {
if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * k_i_rate * dt * scaler;
@@ -96,21 +101,21 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
*/
if (_last_output < -_max_deflection_rad) {
/* only allow motion to center: increase value */
id = max(id, 0.0f);
id = math::max(id, 0.0f);
} else if (_last_output > _max_deflection_rad) {
/* only allow motion to center: decrease value */
id = min(id, 0.0f);
id = math::min(id, 0.0f);
}
_integrator += id;
}
/* integrator limit */
_integrator = constrain(_integrator, -ilimit_scaled, ilimit_scaled);
_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_roll_ff)) * scaler;
_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_ff)) * scaler;
return constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
void ECL_RollController::reset_integrator()