FW att controller: pitch controller: separate from ecl_controller

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-10-22 00:23:33 +08:00 · 2023-12-07 17:21:09 +01:00
parent 7e467f7121
commit d4206195c6
6 changed files with 46 additions and 62 deletions
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2023 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 fw_pitch_controller.cpp
+ * Implementation of a simple pitch P controller.
+ */
+
+#include "fw_pitch_controller.h"
+#include <float.h>
+#include <lib/geo/geo.h>
+#include <mathlib/mathlib.h>
+
+float PitchController::control_pitch(float pitch_setpoint, float euler_yaw_rate_setpoint, float roll, float pitch)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(pitch_setpoint) &&
+	      PX4_ISFINITE(euler_yaw_rate_setpoint) &&
+	      PX4_ISFINITE(pitch) &&
+	      PX4_ISFINITE(roll))) {
+
+		return _body_rate_setpoint;
+	}
+
+	const float pitch_error = pitch_setpoint - pitch;
+	_euler_rate_setpoint = pitch_error / _tc;
+
+	/* Transform setpoint to body angular rates (jacobian) */
+	const float pitch_body_rate_setpoint_raw = cosf(roll) * _euler_rate_setpoint +
+			cosf(pitch) * sinf(roll) * euler_yaw_rate_setpoint;
+
+	_body_rate_setpoint = math::constrain(pitch_body_rate_setpoint_raw, -_max_rate_neg, _max_rate_pos);
+
+	return _body_rate_setpoint;
+}