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fix wrong operation in yaw controller

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Thomas Gubler
2013-10-24 18:14:54 +02:00
parent 19ae09dbad
commit a5046fdfa0
3 changed files with 9 additions and 5 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+3 -1
View File
@@ -45,6 +45,7 @@
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
ECL_PitchController::ECL_PitchController() :
_last_run(0),
@@ -163,7 +164,8 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
/* Apply PI rate controller and store non-limited output */
_last_output = (_rate_error * _k_p + _integrator * _k_i + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
// warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
// warnx("roll: _last_output %.4f", (double)_last_output);
return math::constrain(_last_output, -1.0f, 1.0f);
}
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+2 -2
View File
@@ -133,11 +133,11 @@ float ECL_RollController::control_bodyrate(float pitch,
/* integrator limit */
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
warnx("roll: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i);
// warnx("roll: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i);
/* Apply PI rate controller and store non-limited output */
_last_output = (_rate_error * _k_p + _integrator * _k_i + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
warnx("roll: _last_output %.4f", (double)_last_output);
// warnx("roll: _last_output %.4f", (double)_last_output);
return math::constrain(_last_output, -1.0f, 1.0f);
}
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+4 -2
View File
@@ -119,10 +119,10 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
/* Transform setpoint to body angular rates */
_bodyrate_setpoint = -sinf(roll) * pitch_rate_setpoint * cosf(roll)*cosf(pitch) * _rate_setpoint; //jacobian
_bodyrate_setpoint = -sinf(roll) * pitch_rate_setpoint + cosf(roll)*cosf(pitch) * _rate_setpoint; //jacobian
/* Transform estimation to body angular rates */
float yaw_bodyrate = -sinf(roll) * pitch_rate * cosf(roll)*cosf(pitch) * yaw_rate; //jacobian
float yaw_bodyrate = -sinf(roll) * pitch_rate + cosf(roll)*cosf(pitch) * yaw_rate; //jacobian
/* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - yaw_bodyrate; //body angular rate error
@@ -150,6 +150,8 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
/* Apply PI rate controller and store non-limited output */
_last_output = (_rate_error * _k_p + _integrator * _k_i + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
//warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
return math::constrain(_last_output, -1.0f, 1.0f);
}