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fw attitude controllers: restructuring in order to allow acro flight mode

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- split rate control into body rate control and euler rate control
- this allows standard attitude control but also direct rate control
of all three axes
- allow activation/deactivation of turn compensation

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2017-02-12 11:40:14 +01:00
committed by Lorenz Meier
parent 2750961be6
commit ac7fc30ea7
9 changed files with 77 additions and 83 deletions
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attitude_fw/ecl_roll_controller.cpp
+13 -8
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@@ -79,8 +79,8 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.pitch) &&
PX4_ISFINITE(ctl_data.roll_rate) &&
PX4_ISFINITE(ctl_data.yaw_rate) &&
PX4_ISFINITE(ctl_data.body_x_rate) &&
PX4_ISFINITE(ctl_data.body_z_rate) &&
PX4_ISFINITE(ctl_data.yaw_rate_setpoint) &&
PX4_ISFINITE(ctl_data.airspeed_min) &&
PX4_ISFINITE(ctl_data.airspeed_max) &&
@@ -100,11 +100,8 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat
lock_integrator = true;
}
/* Transform setpoint to body angular rates (jacobian) */
_bodyrate_setpoint = _rate_setpoint - sinf(ctl_data.pitch) * ctl_data.yaw_rate_setpoint;
/* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - ctl_data.roll_rate; //body angular rate error
_rate_error = _bodyrate_setpoint - ctl_data.body_x_rate; //body angular rate error
if (!lock_integrator && _k_i > 0.0f) {
@@ -127,8 +124,7 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat
/* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here
float integrator_constrained = math::constrain(_integrator, -_integrator_max, _integrator_max);
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
/* Apply PI rate controller and store non-limited output */
_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
@@ -138,3 +134,12 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat
return math::constrain(_last_output, -1.0f, 1.0f);
}
float ECL_RollController::control_euler_rate(const struct ECL_ControlData &ctl_data)
{
/* Transform setpoint to body angular rates (jacobian) */
_bodyrate_setpoint = ctl_data.roll_rate_setpoint - sinf(ctl_data.pitch) * ctl_data.yaw_rate_setpoint;
return control_bodyrate(ctl_data);
}