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AC_AttitudeControl: use sqrt_controller function

This commit is contained in:
Jonathan Challinger 2014-10-06 19:58:02 -07:00 committed by Randy Mackay
parent fc898a00a3
commit 0c4a489491
1 changed files with 6 additions and 18 deletions
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24
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -115,29 +115,17 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
if (_accel_rp_max > 0.0f) { if (_accel_rp_max > 0.0f) {
// calculate earth-frame feed forward roll rate using linear response when close to the target, sqrt response when we're further away // calculate earth-frame feed forward roll rate using linear response when close to the target, sqrt response when we're further away
angle_to_target = roll_angle_ef - _angle_ef_target.x; rate_ef_desired = sqrt_controller(roll_angle_ef-_angle_ef_target.x, smoothing_gain, _accel_rp_max);
if (angle_to_target > linear_angle) {
rate_ef_desired = safe_sqrt(2.0f*_accel_rp_max*((float)fabs(angle_to_target)-(linear_angle/2.0f)));
} else if (angle_to_target < -linear_angle) {
rate_ef_desired = -safe_sqrt(2.0f*_accel_rp_max*((float)fabs(angle_to_target)-(linear_angle/2.0f)));
} else {
rate_ef_desired = smoothing_gain*angle_to_target;
}
_rate_ef_desired.x = constrain_float(rate_ef_desired, _rate_ef_desired.x-rate_change_limit, _rate_ef_desired.x+rate_change_limit); _rate_ef_desired.x = constrain_float(rate_ef_desired, _rate_ef_desired.x-rate_change_limit, _rate_ef_desired.x+rate_change_limit);
// update earth-frame roll angle target using desired roll rate // update earth-frame roll angle target using desired roll rate
update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX); update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX);
// calculate earth-frame feed forward pitch rate using linear response when close to the target, sqrt response when we're further away // calculate earth-frame feed forward pitch rate using linear response when close to the target, sqrt response when we're further away
angle_to_target = pitch_angle_ef - _angle_ef_target.y; rate_ef_desired = sqrt_controller(pitch_angle_ef-_angle_ef_target.y, smoothing_gain, _accel_rp_max);
if (angle_to_target > linear_angle) {
rate_ef_desired = safe_sqrt(2.0f*_accel_rp_max*((float)fabs(angle_to_target)-(linear_angle/2.0f)));
} else if (angle_to_target < -linear_angle) {
rate_ef_desired = -safe_sqrt(2.0f*_accel_rp_max*((float)fabs(angle_to_target)-(linear_angle/2.0f)));
} else {
rate_ef_desired = smoothing_gain*angle_to_target;
}
_rate_ef_desired.y = constrain_float(rate_ef_desired, _rate_ef_desired.y-rate_change_limit, _rate_ef_desired.y+rate_change_limit); _rate_ef_desired.y = constrain_float(rate_ef_desired, _rate_ef_desired.y-rate_change_limit, _rate_ef_desired.y+rate_change_limit);
// update earth-frame pitch angle target using desired pitch rate // update earth-frame pitch angle target using desired pitch rate