mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-27 20:00:35 +08:00
Silvan Fuhrer
99 lines
3.8 KiB
C++
99 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2022 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_yaw_controller.cpp
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* Implementation of a simple coordinated turn yaw controller.
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*/
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#include "fw_yaw_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 YawController::control_yaw(float roll_setpoint, float euler_pitch_rate_setpoint, float roll, float pitch,
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float airspeed)
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{
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/* Do not calculate control signal with bad inputs */
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if (!(PX4_ISFINITE(roll_setpoint) &&
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PX4_ISFINITE(roll) &&
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PX4_ISFINITE(pitch) &&
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PX4_ISFINITE(euler_pitch_rate_setpoint) &&
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PX4_ISFINITE(airspeed))) {
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return _body_rate_setpoint;
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}
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float constrained_roll;
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bool inverted = false;
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/* roll is used as feedforward term and inverted flight needs to be considered */
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if (fabsf(roll) < math::radians(90.f)) {
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/* not inverted, but numerically still potentially close to infinity */
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constrained_roll = math::constrain(roll, math::radians(-80.f), math::radians(80.f));
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} else {
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inverted = true;
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// inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity
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//note: the ranges are extended by 10 deg here to avoid numeric resolution effects
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if (roll > 0.f) {
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/* right hemisphere */
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constrained_roll = math::constrain(roll, math::radians(100.f), math::radians(180.f));
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} else {
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/* left hemisphere */
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constrained_roll = math::constrain(roll, math::radians(-180.f), math::radians(-100.f));
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}
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}
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constrained_roll = math::constrain(constrained_roll, -fabsf(roll_setpoint), fabsf(roll_setpoint));
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if (!inverted) {
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/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
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_euler_rate_setpoint = tanf(constrained_roll) * cosf(pitch) * CONSTANTS_ONE_G / airspeed;
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/* Transform setpoint to body angular rates (jacobian) */
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const float yaw_body_rate_setpoint_raw = -sinf(roll) * euler_pitch_rate_setpoint +
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cosf(roll) * cosf(pitch) * _euler_rate_setpoint;
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_body_rate_setpoint = math::constrain(yaw_body_rate_setpoint_raw, -_max_rate, _max_rate);
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}
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if (!PX4_ISFINITE(_body_rate_setpoint)) {
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_body_rate_setpoint = 0.f;
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}
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return _body_rate_setpoint;
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}
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