Multicopter attitude setpoint flag absolute yaw control #16010
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This allows to disable absolute yaw control while still using the attitude quaternion.
bresch
approved these changes
Oct 28, 2020
MaEtUgR
commented
Oct 26, 2022
| @@ -246,6 +246,9 @@ MulticopterAttitudeControl::Run() | |||
| if (_vehicle_attitude_setpoint_sub.updated()) { | |||
| vehicle_attitude_setpoint_s vehicle_attitude_setpoint; | |||
| _vehicle_attitude_setpoint_sub.update(&vehicle_attitude_setpoint); | |||
| const float yaw_weight = vehicle_attitude_setpoint.absolute_heading_valid ? _param_mc_yaw_weight.get() : 0.f; | |||
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Looking at it now I think the controller itself should be able to handle not controlling yaw independent of the outside resetting parameters so architecturally it's not ideal to put it here. I think I'll correct that and add unit tests before we move ahead.
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Describe problem solved by this pull request
to avoid sawtooth setpoints because of scheduling.
Hopefully fixes #15996
Describe your solution
I did not use the
yaw_bodyfield since we'd like to get rid of theX_bodyfields. For multicopter that's already possible and fixed-wing/VTOL uses those uORB message fields internally before filling the quaternion...Describe possible alternatives
The only catch I currently see is that we have to be careful about the definition of yaw. See #13535
Test data / coverage
SITL still flies. I didn't check the ripples being gone.