void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw) { // Convert from centidegrees on public interface to radians float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f); float euler_pitch_angle_rad = radians(euler_pitch_angle_cd*0.01f); float euler_yaw_angle_rad = radians(euler_yaw_angle_cd*0.01f); Vector3f att_error_euler_rad; // Add roll trim to compensate tail rotor thrust in heli (will return zero on multirotors) euler_roll_angle_rad += get_roll_trim_rad(); // Set attitude targets from input. _att_target_euler_rad.x = constrain_float(euler_roll_angle_rad, -get_tilt_limit_rad(), get_tilt_limit_rad()); _att_target_euler_rad.y = constrain_float(euler_pitch_angle_rad, -get_tilt_limit_rad(), get_tilt_limit_rad()); _att_target_euler_rad.z = euler_yaw_angle_rad; // Update attitude error. att_error_euler_rad.x = wrap_PI(_att_target_euler_rad.x - _ahrs.roll); att_error_euler_rad.y = wrap_PI(_att_target_euler_rad.y - _ahrs.pitch); att_error_euler_rad.z = wrap_PI(_att_target_euler_rad.z - _ahrs.yaw); // Constrain the yaw angle error if (slew_yaw) { att_error_euler_rad.z = constrain_float(att_error_euler_rad.z,-get_slew_yaw_rads(),get_slew_yaw_rads()); } // Convert 321-intrinsic euler angle errors to a body-frame rotation vector // NOTE: This results in an approximation of the attitude error based on a linearization about the current attitude euler_rate_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_error_euler_rad, _att_error_rot_vec_rad); // Compute the angular velocity target from the attitude error update_ang_vel_target_from_att_error(); // Keep euler derivative updated ang_vel_to_euler_rate(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _ang_vel_target_rads, _att_target_euler_rate_rads); }
void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw) { // Convert from centidegrees on public interface to radians float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f); float euler_pitch_angle_rad = radians(euler_pitch_angle_cd*0.01f); float euler_yaw_angle_rad = radians(euler_yaw_angle_cd*0.01f); // Add roll trim to compensate tail rotor thrust in heli (will return zero on multirotors) euler_roll_angle_rad += get_roll_trim_rad(); // Set attitude targets from input. _att_target_euler_rad.x = constrain_float(euler_roll_angle_rad, -get_tilt_limit_rad(), get_tilt_limit_rad()); _att_target_euler_rad.y = constrain_float(euler_pitch_angle_rad, -get_tilt_limit_rad(), get_tilt_limit_rad()); _att_target_euler_rad.z = euler_yaw_angle_rad; // If slew_yaw is enabled, constrain yaw target within get_slew_yaw_rads() of _ahrs.yaw if (slew_yaw) { // Compute constrained angle error float angle_error = constrain_float(wrap_PI(_att_target_euler_rad.z - _ahrs.yaw), -get_slew_yaw_rads(), get_slew_yaw_rads()); // Update attitude target from constrained angle error _att_target_euler_rad.z = angle_error + _ahrs.yaw; } // Call attitude controller attitude_controller_run_euler(_att_target_euler_rad, Vector3f(0.0f,0.0f,0.0f)); // Keep euler derivative updated ang_vel_to_euler_rate(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _ang_vel_target_rads, _att_target_euler_rate_rads); }
// Command an euler roll, pitch and yaw angle with angular velocity feedforward and smoothing void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw, float smoothing_gain) { // Convert from centidegrees on public interface to radians float euler_roll_angle = radians(euler_roll_angle_cd*0.01f); float euler_pitch_angle = radians(euler_pitch_angle_cd*0.01f); float euler_yaw_angle = radians(euler_yaw_angle_cd*0.01f); // calculate the attitude target euler angles _attitude_target_quat.to_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z); // ensure smoothing gain can not cause overshoot smoothing_gain = constrain_float(smoothing_gain,1.0f,1/_dt); // Add roll trim to compensate tail rotor thrust in heli (will return zero on multirotors) euler_roll_angle += get_roll_trim_rad(); if (_rate_bf_ff_enabled & _use_ff_and_input_shaping) { // translate the roll pitch and yaw acceleration limits to the euler axis Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss())); // When acceleration limiting and feedforward are enabled, the sqrt controller is used to compute an euler // angular velocity that will cause the euler angle to smoothly stop at the input angle with limited deceleration // and an exponential decay specified by smoothing_gain at the end. _attitude_target_euler_rate.x = input_shaping_angle(wrap_PI(euler_roll_angle-_attitude_target_euler_angle.x), smoothing_gain, euler_accel.x, _attitude_target_euler_rate.x, _dt); _attitude_target_euler_rate.y = input_shaping_angle(wrap_PI(euler_pitch_angle-_attitude_target_euler_angle.y), smoothing_gain, euler_accel.y, _attitude_target_euler_rate.y, _dt); _attitude_target_euler_rate.z = input_shaping_angle(wrap_PI(euler_yaw_angle-_attitude_target_euler_angle.z), smoothing_gain, euler_accel.z, _attitude_target_euler_rate.z, _dt); if (slew_yaw) { _attitude_target_euler_rate.z = constrain_float(_attitude_target_euler_rate.z, -get_slew_yaw_rads(), get_slew_yaw_rads()); } // Convert euler angle derivative of desired attitude into a body-frame angular velocity vector for feedforward euler_rate_to_ang_vel(_attitude_target_euler_angle, _attitude_target_euler_rate, _attitude_target_ang_vel); } else { // When feedforward is not enabled, the target euler angle is input into the target and the feedforward rate is zeroed. _attitude_target_euler_angle.x = euler_roll_angle; _attitude_target_euler_angle.y = euler_pitch_angle; if (slew_yaw) { // Compute constrained angle error float angle_error = constrain_float(wrap_PI(euler_yaw_angle-_attitude_target_euler_angle.z), -get_slew_yaw_rads()*_dt, get_slew_yaw_rads()*_dt); // Update attitude target from constrained angle error _attitude_target_euler_angle.z = wrap_PI(angle_error + _attitude_target_euler_angle.z); } else { _attitude_target_euler_angle.z = euler_yaw_angle; } // Compute quaternion target attitude _attitude_target_quat.from_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z); // Set rate feedforward requests to zero _attitude_target_euler_rate = Vector3f(0.0f, 0.0f, 0.0f); _attitude_target_ang_vel = Vector3f(0.0f, 0.0f, 0.0f); } // Call quaternion attitude controller attitude_controller_run_quat(); }