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fw att control: also transform rate estimate

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Thomas Gubler
2013-10-24 17:39:27 +02:00
parent 1c57d7de43
commit cb5e5e9143
2 changed files with 17 additions and 5 deletions
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src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+9 -2
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@@ -79,8 +79,12 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
}
float roll_error = roll_setpoint - roll;
/* Apply P controller */
float phi_dot_setpoint = roll_error / _tc;
_rate_setpoint = phi_dot_setpoint - sinf(pitch) * yaw_rate; //jacobian
/* 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) {
@@ -88,8 +92,11 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
}
_rate_error = _rate_setpoint - roll_rate;
/* Transform estimation to body angular rates */
float roll_rate_body = roll_rate - sinf(pitch) * yaw_rate; //jacobian
/* Calculate body angular rate error */
_rate_error = _rate_setpoint - roll_rate_body; //body angular rate error
float ilimit_scaled = 0.0f;