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tailsitter: correctly use roll/pitch inputs when optimal recovery is enabled

This commit is contained in:
Andreas Antener 2016-08-23 21:55:46 +02:00
parent 8c9f4e8ab8
commit e1e410783a
1 changed files with 33 additions and 32 deletions
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65
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -2019,47 +2019,48 @@ MulticopterPositionControl::task_main()
}
}
/* control roll and pitch directly if no aiding velocity controller is active
* and only if optimal recovery is not used */
if (!_control_mode.flag_control_velocity_enabled
&& _params.opt_recover <= 0) {
math::Matrix<3, 3> R_sp;
/* control roll and pitch directly if no aiding velocity controller is active */
if (!_control_mode.flag_control_velocity_enabled) {
_att_sp.roll_body = _manual.y * _params.man_roll_max;
_att_sp.pitch_body = -_manual.x * _params.man_pitch_max;
// construct attitude setpoint rotation matrix. modify the setpoints for roll
// and pitch such that they reflect the user's intention even if a yaw error
// (yaw_sp - yaw) is present. In the presence of a yaw error constructing a rotation matrix
// from the pure euler angle setpoints will lead to unexpected attitude behaviour from
// the user's view as the euler angle sequence uses the yaw setpoint and not the current
// heading of the vehicle.
/* only if optimal recovery is not used, modify roll/pitch */
if (_params.opt_recover <= 0) {
// construct attitude setpoint rotation matrix. modify the setpoints for roll
// and pitch such that they reflect the user's intention even if a yaw error
// (yaw_sp - yaw) is present. In the presence of a yaw error constructing a rotation matrix
// from the pure euler angle setpoints will lead to unexpected attitude behaviour from
// the user's view as the euler angle sequence uses the yaw setpoint and not the current
// heading of the vehicle.
// calculate our current yaw error
float yaw_error = _wrap_pi(_att_sp.yaw_body - _yaw);
// calculate our current yaw error
float yaw_error = _wrap_pi(_att_sp.yaw_body - _yaw);
// compute the vector obtained by rotating a z unit vector by the rotation
// given by the roll and pitch commands of the user
math::Vector<3> zB = {0, 0, 1};
math::Matrix<3, 3> R_sp_roll_pitch;
R_sp_roll_pitch.from_euler(_att_sp.roll_body, _att_sp.pitch_body, 0);
math::Vector<3> z_roll_pitch_sp = R_sp_roll_pitch * zB;
// compute the vector obtained by rotating a z unit vector by the rotation
// given by the roll and pitch commands of the user
math::Vector<3> zB = {0, 0, 1};
math::Matrix<3, 3> R_sp_roll_pitch;
R_sp_roll_pitch.from_euler(_att_sp.roll_body, _att_sp.pitch_body, 0);
math::Vector<3> z_roll_pitch_sp = R_sp_roll_pitch * zB;
// transform the vector into a new frame which is rotated around the z axis
// by the current yaw error. this vector defines the desired tilt when we look
// into the direction of the desired heading
math::Matrix<3, 3> R_yaw_correction;
R_yaw_correction.from_euler(0.0f, 0.0f, -yaw_error);
z_roll_pitch_sp = R_yaw_correction * z_roll_pitch_sp;
// transform the vector into a new frame which is rotated around the z axis
// by the current yaw error. this vector defines the desired tilt when we look
// into the direction of the desired heading
math::Matrix<3, 3> R_yaw_correction;
R_yaw_correction.from_euler(0.0f, 0.0f, -yaw_error);
z_roll_pitch_sp = R_yaw_correction * z_roll_pitch_sp;
// use the formula z_roll_pitch_sp = R_tilt * [0;0;1]
// to calculate the new desired roll and pitch angles
// R_tilt can be written as a function of the new desired roll and pitch
// angles. we get three equations and have to solve for 2 unknowns
float pitch_new = asinf(z_roll_pitch_sp(0));
float roll_new = -atan2f(z_roll_pitch_sp(1), z_roll_pitch_sp(2));
// use the formula z_roll_pitch_sp = R_tilt * [0;0;1]
// to calculate the new desired roll and pitch angles
// R_tilt can be written as a function of the new desired roll and pitch
// angles. we get three equations and have to solve for 2 unknowns
_att_sp.pitch_body = asinf(z_roll_pitch_sp(0));
_att_sp.roll_body = -atan2f(z_roll_pitch_sp(1), z_roll_pitch_sp(2));
}
R_sp.from_euler(roll_new, pitch_new, _att_sp.yaw_body);
math::Matrix<3, 3> R_sp;
R_sp.from_euler(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body);
memcpy(&_att_sp.R_body[0], R_sp.data, sizeof(_att_sp.R_body));
/* copy quaternion setpoint to attitude setpoint topic */