Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_AttitudeControl: rename thrust_heading_rotation_angles args

This commit is contained in:
Leonard Hall 2021-02-10 09:30:13 +09:00 committed by Andrew Tridgell
parent ad6e2eeed8
commit f53242b323
2 changed files with 17 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
View File

@ -593,14 +593,14 @@ void AC_AttitudeControl::attitude_controller_run_quat()
// thrust_heading_rotation_angles - calculates two ordered rotations to move the att_from_quat quaternion to the att_to_quat quaternion.
// The first rotation corrects the thrust vector and the second rotation corrects the heading vector.
void AC_AttitudeControl::thrust_heading_rotation_angles(Quaternion& att_to_quat, const Quaternion& att_from_quat, Vector3f& att_diff_angle, float& thrust_vec_dot)
void AC_AttitudeControl::thrust_heading_rotation_angles(Quaternion& attitude_target_quat, const Quaternion& attitude_vehicle_quat, Vector3f& attitude_error_vector, float& thrust_error_angle)
{
Matrix3f att_to_rot_matrix; // rotation from the target body frame to the inertial frame.
att_to_quat.rotation_matrix(att_to_rot_matrix);
attitude_target_quat.rotation_matrix(att_to_rot_matrix);
Vector3f att_to_thrust_vec = att_to_rot_matrix * Vector3f(0.0f, 0.0f, 1.0f);
Matrix3f att_from_rot_matrix; // rotation from the current body frame to the inertial frame.
att_from_quat.rotation_matrix(att_from_rot_matrix);
attitude_vehicle_quat.rotation_matrix(att_from_rot_matrix);
Vector3f att_from_thrust_vec = att_from_rot_matrix * Vector3f(0.0f, 0.0f, 1.0f);
// the dot product is used to calculate the current lean angle for use of external functions
@ -610,44 +610,44 @@ void AC_AttitudeControl::thrust_heading_rotation_angles(Quaternion& att_to_quat,
Vector3f thrust_vec_cross = att_from_thrust_vec % att_to_thrust_vec;
// the dot product is used to calculate the angle between the target and desired thrust vectors
thrust_vec_dot = acosf(constrain_float(att_from_thrust_vec * att_to_thrust_vec, -1.0f, 1.0f));
thrust_error_angle = acosf(constrain_float(att_from_thrust_vec * att_to_thrust_vec, -1.0f, 1.0f));
// Normalize the thrust rotation vector
float thrust_vector_length = thrust_vec_cross.length();
if (is_zero(thrust_vector_length) || is_zero(thrust_vec_dot)) {
if (is_zero(thrust_vector_length) || is_zero(thrust_error_angle)) {
thrust_vec_cross = Vector3f(0, 0, 1);
thrust_vec_dot = 0.0f;
thrust_error_angle = 0.0f;
} else {
thrust_vec_cross /= thrust_vector_length;
}
Quaternion thrust_vec_correction_quat;
thrust_vec_correction_quat.from_axis_angle(thrust_vec_cross, thrust_vec_dot);
thrust_vec_correction_quat.from_axis_angle(thrust_vec_cross, thrust_error_angle);
// Rotate thrust_vec_correction_quat to the att_from frame
thrust_vec_correction_quat = att_from_quat.inverse() * thrust_vec_correction_quat * att_from_quat;
thrust_vec_correction_quat = attitude_vehicle_quat.inverse() * thrust_vec_correction_quat * attitude_vehicle_quat;
// calculate the remaining rotation required after thrust vector is rotated transformed to the att_from frame
Quaternion yaw_vec_correction_quat = thrust_vec_correction_quat.inverse() * att_from_quat.inverse() * att_to_quat;
Quaternion yaw_vec_correction_quat = thrust_vec_correction_quat.inverse() * attitude_vehicle_quat.inverse() * attitude_target_quat;
// calculate the angle error in x and y.
Vector3f rotation;
thrust_vec_correction_quat.to_axis_angle(rotation);
att_diff_angle.x = rotation.x;
att_diff_angle.y = rotation.y;
attitude_error_vector.x = rotation.x;
attitude_error_vector.y = rotation.y;
// calculate the angle error in z (x and y should be zero here).
yaw_vec_correction_quat.to_axis_angle(rotation);
att_diff_angle.z = rotation.z;
attitude_error_vector.z = rotation.z;
// Todo: Limit roll an pitch error based on output saturation and maximum error.
// Limit Yaw Error based on maximum acceleration - Update to include output saturation and maximum error.
// Currently the limit is based on the maximum acceleration using the linear part of the SQRT controller.
// This should be updated to be based on an angle limit, saturation, or unlimited based on user defined parameters.
if (!is_zero(_p_angle_yaw.kP()) && fabsf(att_diff_angle.z) > AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS / _p_angle_yaw.kP()) {
att_diff_angle.z = constrain_float(wrap_PI(att_diff_angle.z), -AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS / _p_angle_yaw.kP(), AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS / _p_angle_yaw.kP());
yaw_vec_correction_quat.from_axis_angle(Vector3f(0.0f, 0.0f, att_diff_angle.z));
att_to_quat = att_from_quat * thrust_vec_correction_quat * yaw_vec_correction_quat;
if (!is_zero(_p_angle_yaw.kP()) && fabsf(attitude_error_vector.z) > AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS / _p_angle_yaw.kP()) {
attitude_error_vector.z = constrain_float(wrap_PI(attitude_error_vector.z), -AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS / _p_angle_yaw.kP(), AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS / _p_angle_yaw.kP());
yaw_vec_correction_quat.from_axis_angle(Vector3f(0.0f, 0.0f, attitude_error_vector.z));
attitude_target_quat = attitude_vehicle_quat * thrust_vec_correction_quat * yaw_vec_correction_quat;
}
}

2
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -287,7 +287,7 @@ public:
// thrust_heading_rotation_angles - calculates two ordered rotations to move the att_from_quat quaternion to the att_to_quat quaternion.
// The first rotation corrects the thrust vector and the second rotation corrects the heading vector.
void thrust_heading_rotation_angles(Quaternion& att_to_quat, const Quaternion& att_from_quat, Vector3f& att_diff_angle, float& thrust_vec_dot);
void thrust_heading_rotation_angles(Quaternion& attitude_target_quat, const Quaternion& attitude_vehicle_quat, Vector3f& attitude_error_vector, float& thrust_error_angle);
// Calculates the body frame angular velocities to follow the target attitude
void attitude_controller_run_quat();