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uuv_pos_control: siplify passing on trajectory position setpoint

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This commit is contained in:
Matthias Grob
2022-05-12 17:19:48 +02:00
parent 200124f094
commit b67fbac296
2 changed files with 7 additions and 11 deletions
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src/modules/uuv_pos_control/uuv_pos_control.cpp
+5 -9
View File
@@ -109,13 +109,12 @@ void UUVPOSControl::publish_attitude_setpoint(const float thrust_x, const float
_att_sp_pub.publish(vehicle_attitude_setpoint);
}
void UUVPOSControl::pose_controller_6dof(const float x_pos_des, const float y_pos_des, const float z_pos_des,
void UUVPOSControl::pose_controller_6dof(const Vector3f &pos_des,
const float roll_des, const float pitch_des, const float yaw_des,
vehicle_attitude_s &vehicle_attitude, vehicle_local_position_s &vlocal_pos)
{
//get current rotation of vehicle
Quatf q_att(vehicle_attitude.q);
Vector3f pos_des = Vector3f(x_pos_des, y_pos_des, z_pos_des);
Vector3f p_control_output = Vector3f(_param_pose_gain_x.get() * (pos_des(0) - vlocal_pos.x) - _param_pose_gain_d_x.get()
* vlocal_pos.vx,
@@ -131,13 +130,12 @@ void UUVPOSControl::pose_controller_6dof(const float x_pos_des, const float y_po
}
void UUVPOSControl::stabilization_controller_6dof(const float x_pos_des, const float y_pos_des, const float z_pos_des,
void UUVPOSControl::stabilization_controller_6dof(const Vector3f &pos_des,
const float roll_des, const float pitch_des, const float yaw_des,
vehicle_attitude_s &vehicle_attitude, vehicle_local_position_s &vlocal_pos)
{
//get current rotation of vehicle
Quatf q_att(vehicle_attitude.q);
Vector3f pos_des = Vector3f(0, 0, z_pos_des);
Vector3f p_control_output = Vector3f(0,
0,
@@ -145,7 +143,7 @@ void UUVPOSControl::stabilization_controller_6dof(const float x_pos_des, const f
//potential d controller missing
Vector3f rotated_input = q_att.rotateVectorInverse(p_control_output);//rotate the coord.sys (from global to body)
publish_attitude_setpoint(rotated_input(0) + x_pos_des, rotated_input(1) + y_pos_des, rotated_input(2),
publish_attitude_setpoint(rotated_input(0) + pos_des(0), rotated_input(1) + pos_des(1), rotated_input(2),
roll_des, pitch_des, yaw_des);
}
@@ -187,13 +185,11 @@ void UUVPOSControl::Run()
//stabilization controller(keep pos and hold depth + angle) vs position controller(global + yaw)
if (_param_stabilization.get() == 0) {
pose_controller_6dof(_trajectory_setpoint.position[0], _trajectory_setpoint.position[1],
_trajectory_setpoint.position[2],
pose_controller_6dof(Vector3f(_trajectory_setpoint.position),
roll_des, pitch_des, yaw_des, _vehicle_attitude, vlocal_pos);
} else {
stabilization_controller_6dof(_trajectory_setpoint.position[0], _trajectory_setpoint.position[1],
_trajectory_setpoint.position[2],
stabilization_controller_6dof(Vector3f(_trajectory_setpoint.position),
roll_des, pitch_des, yaw_des, _vehicle_attitude, vlocal_pos);
}
}
src/modules/uuv_pos_control/uuv_pos_control.hpp
+2 -2
View File
@@ -142,10 +142,10 @@ private:
*/
void publish_attitude_setpoint(const float thrust_x, const float thrust_y, const float thrust_z,
const float roll_des, const float pitch_des, const float yaw_des);
void pose_controller_6dof(const float x_pos_des, const float y_pos_des, const float z_pos_des,
void pose_controller_6dof(const Vector3f &pos_des,
const float roll_des, const float pitch_des, const float yaw_des,
vehicle_attitude_s &vehicle_attitude, vehicle_local_position_s &vlocal_pos);
void stabilization_controller_6dof(const float x_pos_des, const float y_pos_des, const float z_pos_des,
void stabilization_controller_6dof(const Vector3f &pos_des,
const float roll_des, const float pitch_des, const float yaw_des,
vehicle_attitude_s &vehicle_attitude, vehicle_local_position_s &vlocal_pos);
};