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Remove euler angles from attitude setpoint (#23482)

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* Remove euler angles from attitude setpoint message

* Remove usage of euler angles in attitude setpoint messages

This commit removes the usage of euler angles in the vehicle_attitude_setpoint messages

* Fix standard vtol
This commit is contained in:
Jaeyoung Lim
2024-08-12 16:42:51 +02:00
committed by GitHub
parent c9343ca11d
commit e008ca24f1
16 changed files with 234 additions and 157 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+8 -3
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@@ -203,6 +203,11 @@ void Tiltrotor::update_transition_state()
const hrt_abstime now = hrt_absolute_time();
const Eulerf attitude_setpoint_euler(Quatf(_v_att_sp->q_d));
float roll_body = attitude_setpoint_euler.phi();
float pitch_body = attitude_setpoint_euler.theta();
float yaw_body = attitude_setpoint_euler.psi();
// we get attitude setpoint from a multirotor flighttask if altitude is controlled.
// in any other case the fixed wing attitude controller publishes attitude setpoint from manual stick input.
if (_v_control_mode->flag_control_climb_rate_enabled) {
@@ -212,7 +217,7 @@ void Tiltrotor::update_transition_state()
}
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
_v_att_sp->roll_body = _fw_virtual_att_sp->roll_body;
roll_body = Eulerf(Quatf(_fw_virtual_att_sp->q_d)).phi();
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
} else {
@@ -290,7 +295,7 @@ void Tiltrotor::update_transition_state()
// control backtransition deceleration using pitch.
if (_v_control_mode->flag_control_climb_rate_enabled) {
_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
pitch_body = update_and_get_backtransition_pitch_sp();
}
if (_time_since_trans_start < BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) {
@@ -321,7 +326,7 @@ void Tiltrotor::update_transition_state()
_v_att_sp->thrust_body[2] = -_thrust_transition;
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
const Quatf q_sp(Eulerf(roll_body, pitch_body, yaw_body));
q_sp.copyTo(_v_att_sp->q_d);
_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);