fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Dynamically update ff gain for fw rate control (#24120)

Browse Source
This commit is contained in:
Jaeyoung Lim 2024-12-17 17:57:18 +01:00 committed by GitHub
parent 93c25efb62
commit fd87cd682d
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 5 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
src/modules/fw_rate_control/FixedwingRateControl.cpp
View File

@ -84,10 +84,6 @@ FixedwingRateControl::parameters_update()
_rate_control.setIntegratorLimit(
Vector3f(_param_fw_rr_imax.get(), _param_fw_pr_imax.get(), _param_fw_yr_imax.get()));
_rate_control.setFeedForwardGain(
// set FF gains to 0 as we add the FF control outside of the rate controller
Vector3f(0.f, 0.f, 0.f));
if (_handle_param_vt_fw_difthr_en != PARAM_INVALID) {
param_get(_handle_param_vt_fw_difthr_en, &_param_vt_fw_difthr_en);
}
@ -354,14 +350,15 @@ void FixedwingRateControl::Run()
body_rates_setpoint = Vector3f(-_rates_sp.yaw, _rates_sp.pitch, _rates_sp.roll);
}
const Vector3f gain_ff(_param_fw_rr_ff.get(), _param_fw_pr_ff.get(), _param_fw_yr_ff.get());
const Vector3f scaled_gain_ff = gain_ff / _airspeed_scaling;
_rate_control.setFeedForwardGain(scaled_gain_ff);
// Run attitude RATE controllers which need the desired attitudes from above, add trim.
const Vector3f angular_acceleration_setpoint = _rate_control.update(rates, body_rates_setpoint, angular_accel, dt,
_landed);
const Vector3f gain_ff(_param_fw_rr_ff.get(), _param_fw_pr_ff.get(), _param_fw_yr_ff.get());
const Vector3f feedforward = gain_ff.emult(body_rates_setpoint) * _airspeed_scaling;
Vector3f control_u = angular_acceleration_setpoint * _airspeed_scaling * _airspeed_scaling + feedforward;
Vector3f control_u = angular_acceleration_setpoint * _airspeed_scaling * _airspeed_scaling;
// Special case yaw in Acro: if the parameter FW_ACRO_YAW_CTL is not set then don't control yaw
if (!_vcontrol_mode.flag_control_attitude_enabled && !_param_fw_acro_yaw_en.get()) {