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FW attitude controller: remove deprecated ecl_controller

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-07 17:21:09 +01:00
parent b1317daa9c
commit c61ac784b6
4 changed files with 0 additions and 192 deletions
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src/modules/fw_att_control/CMakeLists.txt
-1
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@@ -38,7 +38,6 @@ px4_add_module(
FixedwingAttitudeControl.cpp
FixedwingAttitudeControl.hpp
ecl_controller.cpp
fw_pitch_controller.cpp
fw_roll_controller.cpp
fw_wheel_controller.cpp
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
-15
View File
@@ -322,21 +322,6 @@ void FixedwingAttitudeControl::Run()
}
}
/* Prepare data for attitude controllers */
ECL_ControlData control_input{};
control_input.roll = euler_angles.phi();
control_input.pitch = euler_angles.theta();
control_input.yaw = euler_angles.psi();
control_input.body_z_rate = angular_velocity.xyz[2];
control_input.roll_setpoint = _att_sp.roll_body;
control_input.pitch_setpoint = _att_sp.pitch_body;
control_input.yaw_setpoint = _att_sp.yaw_body;
control_input.euler_pitch_rate_setpoint = _pitch_ctrl.get_euler_rate_setpoint();
control_input.euler_yaw_rate_setpoint = _yaw_ctrl.get_euler_rate_setpoint();
control_input.airspeed_constrained = get_airspeed_constrained();
control_input.groundspeed = _groundspeed;
control_input.groundspeed_scaler = groundspeed_scale;
/* Run attitude controllers */
if (_vcontrol_mode.flag_control_attitude_enabled && _in_fw_or_transition_wo_tailsitter_transition) {
src/modules/fw_att_control/ecl_controller.cpp
-67
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@@ -1,67 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name ECL nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ecl_controller.cpp
* Definition of base class for other controllers
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* Acknowledgements:
*
* The control design is based on a design
* by Paul Riseborough and Andrew Tridgell, 2013,
* which in turn is based on initial work of
* Jonathan Challinger, 2012.
*/
#include "ecl_controller.h"
#include <stdio.h>
#include <mathlib/mathlib.h>
ECL_Controller::ECL_Controller() :
_last_run(0),
_tc(0.1f),
_k_p(0.0f),
_k_i(0.0f),
_k_ff(0.0f),
_integrator_max(0.0f),
_max_rate(0.0f),
_last_output(0.0f),
_integrator(0.0f),
_euler_rate_setpoint(0.0f),
_body_rate_setpoint(0.0f)
{
}
src/modules/fw_att_control/ecl_controller.h
-109
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@@ -1,109 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ecl_controller.h
* Definition of base class for other controllers
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* Acknowledgements:
*
* The control design is based on a design
* by Paul Riseborough and Andrew Tridgell, 2013,
* which in turn is based on initial work of
* Jonathan Challinger, 2012.
*/
#pragma once
#include <drivers/drv_hrt.h>
#include <px4_log.h>
struct ECL_ControlData {
float roll;
float pitch;
float yaw;
float body_z_rate;
float roll_setpoint;
float pitch_setpoint;
float yaw_setpoint;
float euler_pitch_rate_setpoint;
float euler_yaw_rate_setpoint;
float airspeed_constrained;
float groundspeed;
float groundspeed_scaler;
};
class ECL_Controller
{
public:
ECL_Controller();
virtual ~ECL_Controller() = default;
/**
* @brief Calculates both euler and body rate setpoints. Has different implementations for all body axes.
*
* @param dt Time step [s]
* @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed)
* @return Body rate setpoint [rad/s]
*/
virtual float control_attitude(const float dt, const ECL_ControlData &ctl_data) = 0;
void set_time_constant(float time_constant) { _tc = time_constant; }
void set_k_p(float k_p) { _k_p = k_p; }
void set_k_i(float k_i) { _k_i = k_i; }
void set_k_ff(float k_ff) { _k_ff = k_ff; }
void set_integrator_max(float max) { _integrator_max = max; }
void set_max_rate(float max_rate) { _max_rate = max_rate; }
float get_euler_rate_setpoint() { return _euler_rate_setpoint; }
float get_body_rate_setpoint() { return _body_rate_setpoint; }
float get_integrator() { return _integrator; }
void reset_integrator() { _integrator = 0.f; }
protected:
uint64_t _last_run;
float _tc;
float _k_p;
float _k_i;
float _k_ff;
float _integrator_max;
float _max_rate;
float _last_output;
float _integrator;
float _euler_rate_setpoint;
float _body_rate_setpoint;
};