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mc_att_control: MC_YAWRATE_MAX parameter added

This commit is contained in:
Anton Babushkin 2014-05-03 19:19:57 +02:00
parent 55cae08cf3
commit 75796e95b4
2 changed files with 29 additions and 6 deletions
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23
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -71,7 +71,7 @@
#include <systemlib/err.h> #include <systemlib/err.h>
#include <systemlib/perf_counter.h> #include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h> #include <systemlib/systemlib.h>
#include <mathlib/mathlib.h> #include <lib/mathlib/mathlib.h>
#include <lib/geo/geo.h> #include <lib/geo/geo.h>
/** /**
@ -156,6 +156,7 @@ private:
param_t yaw_rate_i; param_t yaw_rate_i;
param_t yaw_rate_d; param_t yaw_rate_d;
param_t yaw_ff; param_t yaw_ff;
param_t yaw_rate_max;
param_t man_roll_max; param_t man_roll_max;
param_t man_pitch_max; param_t man_pitch_max;
@ -168,6 +169,7 @@ private:
math::Vector<3> rate_i; /**< I gain for angular rate error */ math::Vector<3> rate_i; /**< I gain for angular rate error */
math::Vector<3> rate_d; /**< D gain for angular rate error */ math::Vector<3> rate_d; /**< D gain for angular rate error */
float yaw_ff; /**< yaw control feed-forward */ float yaw_ff; /**< yaw control feed-forward */
float yaw_rate_max; /**< max yaw rate */
float man_roll_max; float man_roll_max;
float man_pitch_max; float man_pitch_max;
@ -276,6 +278,11 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params.rate_p.zero(); _params.rate_p.zero();
_params.rate_i.zero(); _params.rate_i.zero();
_params.rate_d.zero(); _params.rate_d.zero();
_params.yaw_ff = 0.0f;
_params.yaw_rate_max = 0.0f;
_params.man_roll_max = 0.0f;
_params.man_pitch_max = 0.0f;
_params.man_yaw_max = 0.0f;
_rates_prev.zero(); _rates_prev.zero();
_rates_sp.zero(); _rates_sp.zero();
@ -298,7 +305,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params_handles.yaw_rate_i = param_find("MC_YAWRATE_I"); _params_handles.yaw_rate_i = param_find("MC_YAWRATE_I");
_params_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D");
_params_handles.yaw_ff = param_find("MC_YAW_FF"); _params_handles.yaw_ff = param_find("MC_YAW_FF");
_params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX");
_params_handles.man_roll_max = param_find("MC_MAN_R_MAX"); _params_handles.man_roll_max = param_find("MC_MAN_R_MAX");
_params_handles.man_pitch_max = param_find("MC_MAN_P_MAX"); _params_handles.man_pitch_max = param_find("MC_MAN_P_MAX");
_params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX"); _params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX");
@ -367,15 +374,16 @@ MulticopterAttitudeControl::parameters_update()
_params.rate_d(2) = v; _params.rate_d(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff); param_get(_params_handles.yaw_ff, &_params.yaw_ff);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
/* manual control scale */ /* manual control scale */
param_get(_params_handles.man_roll_max, &_params.man_roll_max); param_get(_params_handles.man_roll_max, &_params.man_roll_max);
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max); param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max); param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_roll_max *= M_PI / 180.0; _params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_pitch_max *= M_PI / 180.0; _params.man_yaw_max = math::radians(_params.man_yaw_max);
_params.man_yaw_max *= M_PI / 180.0;
return OK; return OK;
} }
@ -626,6 +634,9 @@ MulticopterAttitudeControl::control_attitude(float dt)
/* calculate angular rates setpoint */ /* calculate angular rates setpoint */
_rates_sp = _params.att_p.emult(e_R); _rates_sp = _params.att_p.emult(e_R);
/* limit yaw rate */
_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
/* feed forward yaw setpoint rate */ /* feed forward yaw setpoint rate */
_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff; _rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
} }

12
src/modules/mc_att_control/mc_att_control_params.c
View File

@ -174,6 +174,18 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
*/ */
PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f); PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
/**
* Max yaw rate
*
* Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
/** /**
* Max manual roll * Max manual roll
* *