fly316/PX4-Autopilot
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Lorenz Meier
2014-12-30 11:01:09 +01:00
parent d8eefa3053 4942883ddc
commit ef065808a3
117 changed files with 1607 additions and 209 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+25 -15
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@@ -335,8 +335,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_actuators_0_pub(-1),
_actuators_2_pub(-1),
_rates_sp_id(ORB_ID(vehicle_rates_setpoint)),
_actuators_id(ORB_ID(actuator_controls_0)),
_rates_sp_id(0),
_actuators_id(0),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
@@ -588,12 +588,14 @@ FixedwingAttitudeControl::vehicle_status_poll()
if (vehicle_status_updated) {
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
/* set correct uORB ID, depending on if vehicle is VTOL or not */
if (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
if (!_rates_sp_id) {
if (_vehicle_status.is_vtol) {
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
}
}
}
}
@@ -719,22 +721,24 @@ FixedwingAttitudeControl::task_main()
R.set(_att.R);
R_adapted.set(_att.R);
//move z to x
/* move z to x */
R_adapted(0, 0) = R(0, 2);
R_adapted(1, 0) = R(1, 2);
R_adapted(2, 0) = R(2, 2);
//move x to z
/* move x to z */
R_adapted(0, 2) = R(0, 0);
R_adapted(1, 2) = R(1, 0);
R_adapted(2, 2) = R(2, 0);
//change direction of pitch (convert to right handed system)
/* change direction of pitch (convert to right handed system) */
R_adapted(0, 0) = -R_adapted(0, 0);
R_adapted(1, 0) = -R_adapted(1, 0);
R_adapted(2, 0) = -R_adapted(2, 0);
math::Vector<3> euler_angles; //adapted euler angles for fixed wing operation
euler_angles = R_adapted.to_euler();
//fill in new attitude data
/* fill in new attitude data */
_att.roll = euler_angles(0);
_att.pitch = euler_angles(1);
_att.yaw = euler_angles(2);
@@ -748,7 +752,7 @@ FixedwingAttitudeControl::task_main()
_att.R[2][1] = R_adapted(2, 1);
_att.R[2][2] = R_adapted(2, 2);
// lastly, roll- and yawspeed have to be swaped
/* lastly, roll- and yawspeed have to be swaped */
float helper = _att.rollspeed;
_att.rollspeed = -_att.yawspeed;
_att.yawspeed = helper;
@@ -819,6 +823,7 @@ FixedwingAttitudeControl::task_main()
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;
float yaw_manual = 0.0f;
float throttle_sp = 0.0f;
/* Read attitude setpoint from uorb if
@@ -879,6 +884,8 @@ FixedwingAttitudeControl::task_main()
+ _parameters.rollsp_offset_rad;
pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
+ _parameters.pitchsp_offset_rad;
/* allow manual control of rudder deflection */
yaw_manual = _manual.r;
throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
@@ -978,6 +985,9 @@ FixedwingAttitudeControl::task_main()
_pitch_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
/* add in manual rudder control */
_actuators.control[2] += yaw_manual;
if (!isfinite(yaw_u)) {
_yaw_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
@@ -1017,7 +1027,7 @@ FixedwingAttitudeControl::task_main()
if (_rate_sp_pub > 0) {
/* publish the attitude rates setpoint */
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
} else {
} else if (_rates_sp_id) {
/* advertise the attitude rates setpoint */
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
}
@@ -1042,7 +1052,7 @@ FixedwingAttitudeControl::task_main()
/* publish the actuator controls */
if (_actuators_0_pub > 0) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else {
} else if (_actuators_id) {
_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
}