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fw_att_control move to matrix lib #9104

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Mar 21, 2018
Merged

fw_att_control move to matrix lib #9104

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37 changes: 14 additions & 23 deletions src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -480,14 +480,7 @@ void FixedwingAttitudeControl::run()
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);

/* get current rotation matrix and euler angles from control state quaternions */
math::Quaternion q_att(_att.q[0], _att.q[1], _att.q[2], _att.q[3]);
_R = q_att.to_dcm();

math::Vector<3> euler_angles;
euler_angles = _R.to_euler();
_roll = euler_angles(0);
_pitch = euler_angles(1);
_yaw = euler_angles(2);
matrix::Dcmf R = matrix::Quatf(_att.q);

if (_vehicle_status.is_vtol && _parameters.vtol_type == vtol_type::TAILSITTER) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
Expand All @@ -506,36 +499,34 @@ void FixedwingAttitudeControl::run()
* Rxy Ryy Rzy -Rzy Ryy Rxy
* Rxz Ryz Rzz -Rzz Ryz Rxz
* */
math::Matrix<3, 3> R_adapted = _R; //modified rotation matrix
matrix::Dcmf R_adapted = R; //modified rotation matrix

/* move z to x */
R_adapted(0, 0) = _R(0, 2);
R_adapted(1, 0) = _R(1, 2);
R_adapted(2, 0) = _R(2, 2);
R_adapted(0, 0) = R(0, 2);
R_adapted(1, 0) = R(1, 2);
R_adapted(2, 0) = R(2, 2);

/* move x to z */
R_adapted(0, 2) = _R(0, 0);
R_adapted(1, 2) = _R(1, 0);
R_adapted(2, 2) = _R(2, 0);
R_adapted(0, 2) = R(0, 0);
R_adapted(1, 2) = R(1, 0);
R_adapted(2, 2) = R(2, 0);

/* change direction of pitch (convert to right handed system) */
R_adapted(0, 0) = -R_adapted(0, 0);
R_adapted(1, 0) = -R_adapted(1, 0);
R_adapted(2, 0) = -R_adapted(2, 0);
euler_angles = R_adapted.to_euler(); //adapted euler angles for fixed wing operation

/* fill in new attitude data */
_R = R_adapted;
_roll = euler_angles(0);
_pitch = euler_angles(1);
_yaw = euler_angles(2);
R = R_adapted;

/* lastly, roll- and yawspeed have to be swaped */
float helper = _att.rollspeed;
_att.rollspeed = -_att.yawspeed;
_att.yawspeed = helper;
}

matrix::Eulerf euler_angles(R);

updateSubscriptions();
vehicle_setpoint_poll();
vehicle_control_mode_poll();
Expand Down Expand Up @@ -634,9 +625,9 @@ void FixedwingAttitudeControl::run()

/* Prepare data for attitude controllers */
struct ECL_ControlData control_input = {};
control_input.roll = _roll;
control_input.pitch = _pitch;
control_input.yaw = _yaw;
control_input.roll = euler_angles.phi();
control_input.pitch = euler_angles.theta();
control_input.yaw = euler_angles.psi();
control_input.body_x_rate = _att.rollspeed;
control_input.body_y_rate = _att.pitchspeed;
control_input.body_z_rate = _att.yawspeed;
Expand Down
6 changes: 0 additions & 6 deletions src/modules/fw_att_control/FixedwingAttitudeControl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -274,12 +274,6 @@ class FixedwingAttitudeControl final : public control::SuperBlock, public Module

} _parameter_handles{}; /**< handles for interesting parameters */

// Rotation matrix and euler angles to extract from control state
math::Matrix<3, 3> _R{};
float _roll{0.0f};
float _pitch{0.0f};
float _yaw{0.0f};

ECL_RollController _roll_ctrl;
ECL_PitchController _pitch_ctrl;
ECL_YawController _yaw_ctrl;
Expand Down