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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_wheel_controller.cpp
+8 -8
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@@ -54,12 +54,12 @@ ECL_WheelController::ECL_WheelController() :
float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_data)
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.yaw_rate) &&
PX4_ISFINITE(ctl_data.groundspeed) &&
PX4_ISFINITE(ctl_data.groundspeed_scaler))) {
return math::constrain(_last_output, -1.0f, 1.0f);
}
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.body_z_rate) &&
PX4_ISFINITE(ctl_data.groundspeed) &&
PX4_ISFINITE(ctl_data.groundspeed_scaler))) {
return math::constrain(_last_output, -1.0f, 1.0f);
}
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
@@ -76,8 +76,8 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
/* input conditioning */
float min_speed = 1.0f;
/* Calculate body angular rate error */
_rate_error = _rate_setpoint - ctl_data.yaw_rate; //body angular rate error
/* Calculate body angular rate error */
_rate_error = _rate_setpoint - ctl_data.body_z_rate; //body angular rate error
if (!lock_integrator && _k_i > 0.0f && ctl_data.groundspeed > min_speed) {