fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 13:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Replace rate controller with RateControlLibrary

Browse Source 
This commit makes the fw attitude controller take share the rate controller as a library with the mc_rate_control module
This commit is contained in:
Jaeyoung-Lim
2022-08-19 09:40:48 +02:00
committed by Silvan Fuhrer
parent 44a18acd51
commit f2877ce585
18 changed files with 70 additions and 232 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/ecl_yaw_controller.cpp
+6 -61
View File
@@ -82,8 +82,12 @@ float ECL_YawController::control_attitude(const float dt, const ECL_ControlData
if (!inverted) {
/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
_rate_setpoint = tanf(constrained_roll) * cosf(ctl_data.pitch) * CONSTANTS_ONE_G / (ctl_data.airspeed <
ctl_data.airspeed_min ? ctl_data.airspeed_min : ctl_data.airspeed);
float euler_rate_setpoint = tanf(constrained_roll) * cosf(ctl_data.pitch) * CONSTANTS_ONE_G / (ctl_data.airspeed <
ctl_data.airspeed_min ? ctl_data.airspeed_min : ctl_data.airspeed);
/* Transform setpoint to body angular rates (jacobian) */
_rate_setpoint = -sinf(ctl_data.roll) * euler_rate_setpoint +
cosf(ctl_data.roll) * cosf(ctl_data.pitch) * euler_rate_setpoint;
}
if (!PX4_ISFINITE(_rate_setpoint)) {
@@ -93,62 +97,3 @@ float ECL_YawController::control_attitude(const float dt, const ECL_ControlData
return _rate_setpoint;
}
float ECL_YawController::control_bodyrate(const float dt, const ECL_ControlData &ctl_data)
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.roll) &&
PX4_ISFINITE(ctl_data.pitch) &&
PX4_ISFINITE(ctl_data.body_y_rate) &&
PX4_ISFINITE(ctl_data.body_z_rate) &&
PX4_ISFINITE(ctl_data.pitch_rate_setpoint) &&
PX4_ISFINITE(ctl_data.airspeed_min) &&
PX4_ISFINITE(ctl_data.airspeed_max) &&
PX4_ISFINITE(ctl_data.scaler))) {
return math::constrain(_last_output, -1.0f, 1.0f);
}
/* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - ctl_data.body_z_rate;
if (!ctl_data.lock_integrator && _k_i > 0.0f) {
/* Integral term scales with 1/IAS^2 */
float id = _rate_error * dt * ctl_data.scaler * ctl_data.scaler;
/*
* anti-windup: do not allow integrator to increase if actuator is at limit
*/
if (_last_output < -1.0f) {
/* only allow motion to center: increase value */
id = math::max(id, 0.0f);
} else if (_last_output > 1.0f) {
/* only allow motion to center: decrease value */
id = math::min(id, 0.0f);
}
/* add and constrain */
_integrator = math::constrain(_integrator + id * _k_i, -_integrator_max, _integrator_max);
}
/* Apply PI rate controller and store non-limited output */
/* FF terms scales with 1/TAS and P,I with 1/IAS^2 */
_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
_rate_error * _k_p * ctl_data.scaler * ctl_data.scaler
+ _integrator;
return math::constrain(_last_output, -1.0f, 1.0f);
}
float ECL_YawController::control_euler_rate(const float dt, const ECL_ControlData &ctl_data, float bodyrate_ff)
{
/* Transform setpoint to body angular rates (jacobian) */
_bodyrate_setpoint = -sinf(ctl_data.roll) * ctl_data.pitch_rate_setpoint +
cosf(ctl_data.roll) * cosf(ctl_data.pitch) * _rate_setpoint + bodyrate_ff;
set_bodyrate_setpoint(_bodyrate_setpoint);
return control_bodyrate(dt, ctl_data);
}