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Added support for inverted flight

This commit is contained in:
Lorenz Meier 2013-09-09 21:06:08 +02:00
parent b6a0437c7c
commit 5182860a68
1 changed files with 22 additions and 0 deletions
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22
src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
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@ -79,9 +79,31 @@ float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitc
airspeed = airspeed_min; airspeed = airspeed_min;
} }
/* flying inverted (wings upside down) ? */
bool inverted = false;
/* roll is used as feedforward term and inverted flight needs to be considered */
if (fabsf(roll) < math::radians(90.0f)) {
/* not inverted, but numerically still potentially close to infinity */
roll = math::constrain(roll, math::radians(-80.0f), math::radians(80.0f));
} else {
/* inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity */
/* note: the ranges are extended by 10 deg here to avoid numeric resolution effects */
if (roll > 0.0f) {
/* right hemisphere */
roll = math::constrain(roll, math::radians(100.0f), math::radians(180.0f));
} else {
/* left hemisphere */
roll = math::constrain(roll, math::radians(-100.0f), math::radians(-180.0f));
}
}
/* calculate the offset in the rate resulting from rolling */ /* calculate the offset in the rate resulting from rolling */
float turn_offset = fabsf((CONSTANTS_ONE_G / airspeed) * float turn_offset = fabsf((CONSTANTS_ONE_G / airspeed) *
tanf(roll) * sinf(roll)) * _roll_ff; tanf(roll) * sinf(roll)) * _roll_ff;
if (inverted)
turn_offset = -turn_offset;
float pitch_error = pitch_setpoint - pitch; float pitch_error = pitch_setpoint - pitch;
/* rate setpoint from current error and time constant */ /* rate setpoint from current error and time constant */