From ee4249f30f72b11552d84fe98fe5c1d46a3624c3 Mon Sep 17 00:00:00 2001 From: tumbili Date: Thu, 10 Sep 2015 14:22:39 +0200 Subject: [PATCH] extended ecl yaw controller for yaw tracking with rudder --- .../ecl/attitude_fw/ecl_yaw_controller.cpp | 34 +++++++++++++++++++ src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 10 ++++-- 2 files changed, 41 insertions(+), 3 deletions(-) diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 4849bdad79..240a426bd0 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -67,6 +67,9 @@ float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data case COORD_METHOD_CLOSEACC: return control_attitude_impl_accclosedloop(ctl_data); + case COORD_METHOD_HEADING: + return control_heading(ctl_data); + default: static hrt_abstime last_print = 0; @@ -238,3 +241,34 @@ float ECL_YawController::control_attitude_impl_accclosedloop(const struct ECL_Co /* dont set a rate setpoint */ return 0.0f; } + +float ECL_YawController::control_heading(const struct ECL_ControlData &ctl_data) +{ + /* Do not calculate control signal with bad inputs */ + if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) && + PX4_ISFINITE(ctl_data.yaw) && + PX4_ISFINITE(ctl_data.airspeed))) { + perf_count(_nonfinite_input_perf); + warnx("not controlling yaw"); + return _rate_setpoint; + } + + /* Calculate the error */ + float yaw_error = ctl_data.yaw_setpoint - ctl_data.yaw; + + /* Apply P controller: rate setpoint from current error and time constant */ + _rate_setpoint = yaw_error / _tc; + + /* limit the rate */ + if (_max_rate > 0.01f) { + if (_rate_setpoint > 0.0f) { + _rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint; + + } else { + _rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint; + } + + } + + return _rate_setpoint; +} diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h index 81d8210549..e3e529b30f 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -76,14 +76,16 @@ public: _coordinated_method = coordinated_method; } -protected: - float _coordinated_min_speed; - enum { COORD_METHOD_OPEN = 0, COORD_METHOD_CLOSEACC = 1, + COORD_METHOD_HEADING = 2 }; +protected: + float _coordinated_min_speed; + float _max_rate; + int32_t _coordinated_method; float control_bodyrate_impl(const struct ECL_ControlData &ctl_data); @@ -92,6 +94,8 @@ protected: float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data); + float control_heading(const struct ECL_ControlData &ctl_data); + }; #endif // ECL_YAW_CONTROLLER_H