mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-17 01:50:34 +08:00
Silvan Fuhrer
71 lines
2.9 KiB
C++
71 lines
2.9 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013-2020 Estimation and Control Library (ECL). All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name ECL nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file ecl_pitch_controller.cpp
|
|
* Implementation of a simple orthogonal pitch PID controller.
|
|
*
|
|
* Authors and acknowledgements in header.
|
|
*/
|
|
|
|
#include "ecl_pitch_controller.h"
|
|
#include <float.h>
|
|
#include <lib/geo/geo.h>
|
|
#include <mathlib/mathlib.h>
|
|
|
|
float ECL_PitchController::control_attitude(const float dt, const ECL_ControlData &ctl_data)
|
|
{
|
|
/* Do not calculate control signal with bad inputs */
|
|
if (!(PX4_ISFINITE(ctl_data.pitch_setpoint) &&
|
|
PX4_ISFINITE(ctl_data.roll) &&
|
|
PX4_ISFINITE(ctl_data.pitch) &&
|
|
PX4_ISFINITE(ctl_data.euler_yaw_rate_setpoint) &&
|
|
PX4_ISFINITE(ctl_data.airspeed))) {
|
|
|
|
return _body_rate_setpoint;
|
|
}
|
|
|
|
/* Calculate the error */
|
|
float pitch_error = ctl_data.pitch_setpoint - ctl_data.pitch;
|
|
|
|
/* Apply P controller: rate setpoint from current error and time constant */
|
|
_euler_rate_setpoint = pitch_error / _tc;
|
|
|
|
/* Transform setpoint to body angular rates (jacobian) */
|
|
const float pitch_body_rate_setpoint_raw = cosf(ctl_data.roll) * _euler_rate_setpoint +
|
|
cosf(ctl_data.pitch) * sinf(ctl_data.roll) * ctl_data.euler_yaw_rate_setpoint;
|
|
_body_rate_setpoint = math::constrain(pitch_body_rate_setpoint_raw, -_max_rate_neg, _max_rate);
|
|
|
|
return _body_rate_setpoint;
|
|
}
|