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Add body/NED frame for offboard velocity control

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This adds the possibility to use offboard velocity control in the body
frame and not just the NED (world) frame.

The frame is set in the set_position_target_local_ned message and passed
on to mc_pos_control in the position_setpoint topic.
This commit is contained in:
Julian Oes
2016-12-15 10:17:03 +01:00
committed by Lorenz Meier
parent e3aecc0762
commit e01eaf172a
3 changed files with 23 additions and 4 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2
View File
@@ -868,6 +868,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
pos_sp_triplet.current.vy = set_position_target_local_ned.vy;
pos_sp_triplet.current.vz = set_position_target_local_ned.vz;
pos_sp_triplet.current.velocity_frame =
set_position_target_local_ned.coordinate_frame;
} else {
pos_sp_triplet.current.velocity_valid = false;
}
src/modules/mc_pos_control/mc_pos_control_main.cpp
+16 -4
View File
@@ -1222,12 +1222,24 @@ MulticopterPositionControl::control_offboard(float dt)
_hold_offboard_xy = true;
}
_run_pos_control = false;
_run_pos_control = true;
} else {
/* set position setpoint move rate */
_vel_sp(0) = _pos_sp_triplet.current.vx;
_vel_sp(1) = _pos_sp_triplet.current.vy;
if (_pos_sp_triplet.current.velocity_frame == position_setpoint_s::VELOCITY_FRAME_LOCAL_NED) {
/* set position setpoint move rate */
_vel_sp(0) = _pos_sp_triplet.current.vx;
_vel_sp(1) = _pos_sp_triplet.current.vy;
} else if (_pos_sp_triplet.current.velocity_frame == position_setpoint_s::VELOCITY_FRAME_BODY_NED) {
// Transform velocity command from body frame to NED frame
_vel_sp(0) = cosf(_yaw) * _pos_sp_triplet.current.vx - sinf(_yaw) * _pos_sp_triplet.current.vy;
_vel_sp(1) = sinf(_yaw) * _pos_sp_triplet.current.vx + cosf(_yaw) * _pos_sp_triplet.current.vy;
} else {
PX4_WARN("Unknown velocity offboard coordinate frame");
}
_run_pos_control = false;
_hold_offboard_xy = false;