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FW Attitude Control: rename att_control to angular_acceleration_setpoint

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-08-19 09:40:48 +02:00
parent e595952ed4
commit e3e021a1c2
1 changed files with 13 additions and 8 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+13 -8
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@@ -569,15 +569,16 @@ void FixedwingAttitudeControl::Run()
}
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
const Vector3f att_control = _rate_control.update(rates, body_rates_setpoint, angular_accel, dt, _landed);
const Vector3f angular_acceleration_setpoint = _rate_control.update(rates, body_rates_setpoint, angular_accel, dt,
_landed);
float roll_feedforward = _param_fw_rr_ff.get() * _airspeed_scaling * body_rates_setpoint(0);
float roll_u = att_control(0) * _airspeed_scaling * _airspeed_scaling + roll_feedforward;
float roll_u = angular_acceleration_setpoint(0) * _airspeed_scaling * _airspeed_scaling + roll_feedforward;
_actuator_controls.control[actuator_controls_s::INDEX_ROLL] =
(PX4_ISFINITE(roll_u)) ? math::constrain(roll_u + trim_roll, -1.f, 1.f) : trim_roll;
float pitch_feedforward = _param_fw_pr_ff.get() * _airspeed_scaling * body_rates_setpoint(1);
float pitch_u = att_control(1) * _airspeed_scaling * _airspeed_scaling + pitch_feedforward;
float pitch_u = angular_acceleration_setpoint(1) * _airspeed_scaling * _airspeed_scaling + pitch_feedforward;
_actuator_controls.control[actuator_controls_s::INDEX_PITCH] =
(PX4_ISFINITE(pitch_u)) ? math::constrain(pitch_u + trim_pitch, -1.f, 1.f) : trim_pitch;
@@ -591,7 +592,7 @@ void FixedwingAttitudeControl::Run()
} else {
const float yaw_feedforward = _param_fw_yr_ff.get() * _airspeed_scaling * body_rates_setpoint(2);
yaw_u = att_control(2) * _airspeed_scaling * _airspeed_scaling + yaw_feedforward;
yaw_u = angular_acceleration_setpoint(2) * _airspeed_scaling * _airspeed_scaling + yaw_feedforward;
}
_actuator_controls.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? math::constrain(yaw_u + trim_yaw,
@@ -635,13 +636,17 @@ void FixedwingAttitudeControl::Run()
vehicle_rates_setpoint_poll();
const Vector3f body_rates_setpoint = Vector3f(_rates_sp.roll, _rates_sp.pitch, _rates_sp.yaw);
const Vector3f att_control = _rate_control.update(rates, body_rates_setpoint, angular_accel, dt, _landed);
const Vector3f angular_acceleration_setpoint = _rate_control.update(rates, body_rates_setpoint, angular_accel, dt,
_landed);
_actuator_controls.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(att_control(0))) ? att_control(
_actuator_controls.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(angular_acceleration_setpoint(
0))) ? angular_acceleration_setpoint(
0) + trim_roll : trim_roll;
_actuator_controls.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(att_control(1))) ? att_control(
_actuator_controls.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(angular_acceleration_setpoint(
1))) ? angular_acceleration_setpoint(
1) + trim_pitch : trim_pitch;
_actuator_controls.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(att_control(2))) ? att_control(
_actuator_controls.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(angular_acceleration_setpoint(
2))) ? angular_acceleration_setpoint(
2) + trim_yaw : trim_yaw;
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(_rates_sp.thrust_body[0]) ?