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Fixedwing: fix wheel controller #24167

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merged 2 commits into from
Jan 3, 2025
Merged

Fixedwing: fix wheel controller #24167

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f11bc8a
fw-att: fix wheel controller
bresch Jan 3, 2025
8edc2f1
fw-att: avoid multiple conversions
bresch Jan 3, 2025
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26 changes: 13 additions & 13 deletions src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -214,9 +214,6 @@ void FixedwingAttitudeControl::Run()
_last_run = time_now_us;
}

vehicle_angular_velocity_s angular_velocity{};
_vehicle_rates_sub.copy(&angular_velocity);

if (_vehicle_status.is_vtol_tailsitter) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
Expand Down Expand Up @@ -324,22 +321,22 @@ void FixedwingAttitudeControl::Run()
/* Run attitude controllers */

if (_vcontrol_mode.flag_control_attitude_enabled && _in_fw_or_transition_wo_tailsitter_transition) {
const Eulerf setpoint(Quatf(_att_sp.q_d));
const float roll_body = setpoint.phi();
const float pitch_body = setpoint.theta();
const Quatf q_sp(_att_sp.q_d);

if (PX4_ISFINITE(roll_body) && PX4_ISFINITE(pitch_body)) {
if (q_sp.isAllFinite()) {
const Eulerf euler_sp(q_sp);
const float roll_sp = euler_sp.phi();
const float pitch_sp = euler_sp.theta();

_roll_ctrl.control_roll(roll_body, _yaw_ctrl.get_euler_rate_setpoint(), euler_angles.phi(),
_roll_ctrl.control_roll(roll_sp, _yaw_ctrl.get_euler_rate_setpoint(), euler_angles.phi(),
euler_angles.theta());
_pitch_ctrl.control_pitch(pitch_body, _yaw_ctrl.get_euler_rate_setpoint(), euler_angles.phi(),
_pitch_ctrl.control_pitch(pitch_sp, _yaw_ctrl.get_euler_rate_setpoint(), euler_angles.phi(),
euler_angles.theta());
_yaw_ctrl.control_yaw(roll_body, _pitch_ctrl.get_euler_rate_setpoint(), euler_angles.phi(),
_yaw_ctrl.control_yaw(roll_sp, _pitch_ctrl.get_euler_rate_setpoint(), euler_angles.phi(),
euler_angles.theta(), get_airspeed_constrained());

if (wheel_control) {
Eulerf attitude_setpoint(Quatf(_att_sp.q_d));
_wheel_ctrl.control_attitude(attitude_setpoint.psi(), euler_angles.psi());
_wheel_ctrl.control_attitude(euler_sp.psi(), euler_angles.psi());

} else {
_wheel_ctrl.reset_integrator();
Expand Down Expand Up @@ -394,10 +391,13 @@ void FixedwingAttitudeControl::Run()
wheel_u = _manual_control_setpoint.yaw;

} else {
vehicle_angular_velocity_s angular_velocity{};
_vehicle_rates_sub.copy(&angular_velocity);

// XXX: yaw_sp_move_rate here is an abuse -- used to ferry manual yaw inputs from
// position controller during auto modes _manual_control_setpoint.r gets passed
// whenever nudging is enabled, otherwise zero
const float wheel_controller_output = _wheel_ctrl.control_bodyrate(dt, euler_angles.psi(), _groundspeed,
const float wheel_controller_output = _wheel_ctrl.control_bodyrate(dt, angular_velocity.xyz[2], _groundspeed,
groundspeed_scale);
wheel_u = wheel_control ? wheel_controller_output + _att_sp.yaw_sp_move_rate : 0.f;
}
Expand Down
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