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wip, fw attitude ctrl: split into attitude and rate, compiles, untested

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Thomas Gubler
2013-10-24 17:40:03 +02:00
parent 17e0c5053e
commit b21b9078e2
7 changed files with 299 additions and 85 deletions
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src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+26 -16
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@@ -53,18 +53,38 @@ ECL_RollController::ECL_RollController() :
_integrator(0.0f),
_rate_error(0.0f),
_rate_setpoint(0.0f),
_bodyrate_setpoint(0.0f),
_max_deflection_rad(math::radians(45.0f))
{
}
float ECL_RollController::control(float roll_setpoint, float roll, float roll_rate, float pitch, float yaw_rate,
float scaler, bool lock_integrator, float airspeed_min, float airspeed_max, float airspeed)
float ECL_RollController::control_attitude(float roll_setpoint, float roll)
{
/* Calculate error */
float roll_error = roll_setpoint - roll;
/* Apply P controller */
_rate_setpoint = roll_error / _tc;
/* limit the rate */ //XXX: move to body angluar rates
if (_max_rate > 0.01f) {
_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
}
return _rate_setpoint;
}
float ECL_RollController::control_bodyrate(float pitch,
float roll_rate, float yaw_rate,
float yaw_rate_setpoint,
float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
{
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
@@ -78,25 +98,15 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
airspeed = airspeed_min;
}
float roll_error = roll_setpoint - roll;
/* Apply P controller */
float phi_dot_setpoint = roll_error / _tc;
/* Transform setpoint to body angular rates */
_rate_setpoint = phi_dot_setpoint - sinf(pitch) * yaw_rate; //jacobian //XXX: use desired yaw_rate?
/* limit the rate */
if (_max_rate > 0.01f) {
_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
}
_bodyrate_setpoint = _rate_setpoint - sinf(pitch) * yaw_rate_setpoint; //jacobian
/* Transform estimation to body angular rates */
float roll_rate_body = roll_rate - sinf(pitch) * yaw_rate; //jacobian
float roll_bodyrate = roll_rate - sinf(pitch) * yaw_rate; //jacobian
/* Calculate body angular rate error */
_rate_error = _rate_setpoint - roll_rate_body; //body angular rate error
_rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error
float ilimit_scaled = 0.0f;