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fixed rates feedforward: plant for feedforward is given by derivative operator

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Roman 2015-05-22 21:12:18 +02:00 committed by Lorenz Meier
parent ccac324f5b
commit 5b6f1b5ca5
1 changed files with 4 additions and 1 deletions
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5
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -158,6 +158,7 @@ private:
perf_counter_t _controller_latency_perf;
math::Vector<3> _rates_prev; /**< angular rates on previous step */
math::Vector<3> _rates_sp_prev; /**< previous rates setpoint */
math::Vector<3> _rates_sp; /**< angular rates setpoint */
math::Vector<3> _rates_int; /**< angular rates integral error */
float _thrust_sp; /**< thrust setpoint */
@ -353,6 +354,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_rates_prev.zero();
_rates_sp.zero();
_rates_sp_prev.zero();
_rates_int.zero();
_thrust_sp = 0.0f;
_att_control.zero();
@ -712,7 +714,8 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
/* angular rates error */
math::Vector<3> rates_err = _rates_sp - rates;
_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int + _params.rate_ff.emult(_rates_sp);
_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int + _params.rate_ff.emult(_rates_sp - _rates_sp_prev) / dt;
_rates_sp_prev = _rates_sp;
_rates_prev = rates;
/* update integral only if not saturated on low limit and if motor commands are not saturated */