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Turned all control outputs into NED frame moments #201

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Feb 15, 2013
Merged

Turned all control outputs into NED frame moments #201

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24 changes: 19 additions & 5 deletions apps/controllib/fixedwing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -322,11 +322,24 @@ void BlockMultiModeBacksideAutopilot::update()
_att.roll, _att.pitch, _att.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed
);
_actuators.control[CH_AIL] = _backsideAutopilot.getAileron();
_actuators.control[CH_ELV] = _backsideAutopilot.getElevator();
_actuators.control[CH_AIL] = - _backsideAutopilot.getAileron();
_actuators.control[CH_ELV] = - _backsideAutopilot.getElevator();
_actuators.control[CH_RDR] = _backsideAutopilot.getRudder();
_actuators.control[CH_THR] = _backsideAutopilot.getThrottle();

// XXX limit throttle to manual setting (safety) for now.
// If it turns out to be confusing, it can be removed later once
// a first binary release can be targeted.
// This is not a hack, but a design choice.

/* do not limit in HIL */
if (!_status.flag_hil_enabled) {
/* limit to value of manual throttle */
_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
_actuators.control[CH_THR] : _manual.throttle;
}


} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {

if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
Expand All @@ -337,11 +350,12 @@ void BlockMultiModeBacksideAutopilot::update()
_actuators.control[CH_THR] = _manual.throttle;

} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
_stabilization.update(
_ratesCmd.roll, _ratesCmd.pitch, _ratesCmd.yaw,

_stabilization.update(_manual.roll, _manual.pitch, _manual.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);

_actuators.control[CH_AIL] = _stabilization.getAileron();
_actuators.control[CH_ELV] = _stabilization.getElevator();
_actuators.control[CH_ELV] = - _stabilization.getElevator();
_actuators.control[CH_RDR] = _stabilization.getRudder();
_actuators.control[CH_THR] = _manual.throttle;
}
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4 changes: 1 addition & 3 deletions apps/fixedwing_att_control/fixedwing_att_control_rate.c
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Original file line number Diff line number Diff line change
Expand Up @@ -196,9 +196,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* roll rate (PI) */
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
/* pitch rate (PI) */
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
/* set pitch minus feedforward throttle compensation (nose pitches up from throttle */
actuators->control[1] += (-1.0f) * p.pitch_thr_ff * rate_sp->thrust;
actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
/* yaw rate (PI) */
actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);

Expand Down