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Cleanup: remove useless angular rates from attitude rate controller

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Anton Babushkin
2013-06-20 11:52:05 +04:00
parent 462a9c8454
commit dec1fdbde0
3 changed files with 5 additions and 11 deletions
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src/modules/multirotor_att_control/multirotor_att_control_main.c
+1 -7
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@@ -395,13 +395,7 @@ mc_thread_main(int argc, char *argv[])
rates[1] = att.pitchspeed; rates[1] = att.pitchspeed;
rates[2] = att.yawspeed; rates[2] = att.yawspeed;
rates_acc[0] = att.rollacc; multirotor_control_rates(&rates_sp, rates, &actuators, &control_debug_pub, &control_debug);
rates_acc[1] = att.pitchacc;
rates_acc[2] = att.yawacc;
multirotor_control_rates(&rates_sp, rates, rates_acc, &actuators, &control_debug_pub, &control_debug);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
src/modules/multirotor_att_control/multirotor_rate_control.c
+3 -3
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@@ -151,7 +151,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
} }
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], const float rates_acc[], struct actuator_controls_s *actuators, const float rates[], struct actuator_controls_s *actuators,
const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug) const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug)
{ {
static uint64_t last_run = 0; static uint64_t last_run = 0;
@@ -208,11 +208,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* control pitch (forward) output */ /* control pitch (forward) output */
float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); rates[1], 0.0f, deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d);
/* control roll (left/right) output */ /* control roll (left/right) output */
float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
rates[0], rates_acc[0], deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d); rates[0], 0.0f, deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d);
/* increase resilience to faulty control inputs */ /* increase resilience to faulty control inputs */
if (isfinite(pitch_control)) { if (isfinite(pitch_control)) {
src/modules/multirotor_att_control/multirotor_rate_control.h
+1 -1
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@@ -52,7 +52,7 @@
#include <uORB/topics/vehicle_control_debug.h> #include <uORB/topics/vehicle_control_debug.h>
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], const float rates_acc[], struct actuator_controls_s *actuators, const float rates[], struct actuator_controls_s *actuators,
const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug); const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug);
#endif /* MULTIROTOR_RATE_CONTROL_H_ */ #endif /* MULTIROTOR_RATE_CONTROL_H_ */