mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 09:10:34 +08:00
Silvan Fuhrer
66 lines
2.7 KiB
C++
66 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name ECL nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file fw_pitch_controller.cpp
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* Implementation of a simple pitch P controller.
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*/
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#include "fw_pitch_controller.h"
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#include <float.h>
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#include <lib/geo/geo.h>
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#include <mathlib/mathlib.h>
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float PitchController::control_pitch(float pitch_setpoint, float euler_yaw_rate_setpoint, float roll, float pitch)
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{
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/* Do not calculate control signal with bad inputs */
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if (!(PX4_ISFINITE(pitch_setpoint) &&
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PX4_ISFINITE(euler_yaw_rate_setpoint) &&
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PX4_ISFINITE(pitch) &&
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PX4_ISFINITE(roll))) {
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return _body_rate_setpoint;
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}
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const float pitch_error = pitch_setpoint - pitch;
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_euler_rate_setpoint = pitch_error / _tc;
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/* Transform setpoint to body angular rates (jacobian) */
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const float pitch_body_rate_setpoint_raw = cosf(roll) * _euler_rate_setpoint +
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cosf(pitch) * sinf(roll) * euler_yaw_rate_setpoint;
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_body_rate_setpoint = math::constrain(pitch_body_rate_setpoint_raw, -_max_rate_neg, _max_rate_pos);
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return _body_rate_setpoint;
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}
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