Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

AC_AttitudeControl_Heli: passthrough_bf_roll_pitch_rate_yaw use quaterion to update attitude target #27052

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
+9 −14
Open

AC_AttitudeControl_Heli: passthrough_bf_roll_pitch_rate_yaw use quaterion to update attitude target #27052

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 9 additions & 14 deletions libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -364,21 +364,16 @@ void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_pass
Quaternion att;
_ahrs.get_quat_body_to_ned(att);
if (ang_vel_to_euler_rate(att, _att_error_rot_vec_rad, att_error_euler_rad)) {
_euler_angle_target.x = wrap_PI(att_error_euler_rad.x + _ahrs.roll);
_euler_angle_target.y = wrap_PI(att_error_euler_rad.y + _ahrs.pitch);
_euler_angle_target.z = wrap_2PI(att_error_euler_rad.z + _ahrs.yaw);
}

// handle flipping over pitch axis
if (_euler_angle_target.y > M_PI / 2.0f) {
_euler_angle_target.x = wrap_PI(_euler_angle_target.x + M_PI);
_euler_angle_target.y = wrap_PI(M_PI - _euler_angle_target.x);
_euler_angle_target.z = wrap_2PI(_euler_angle_target.z + M_PI);
}
if (_euler_angle_target.y < -M_PI / 2.0f) {
_euler_angle_target.x = wrap_PI(_euler_angle_target.x + M_PI);
_euler_angle_target.y = wrap_PI(-M_PI - _euler_angle_target.x);
_euler_angle_target.z = wrap_2PI(_euler_angle_target.z + M_PI);
// Convert euler attitude error to Quaternion
Quaternion attitude_target_update;
attitude_target_update.from_euler(att_error_euler_rad);

// Set target based on current attitude and error
_attitude_target = att * attitude_target_update;

// Keep euler target upto date
_attitude_target.to_euler(_euler_angle_target);
}

// convert body-frame angle errors to body-frame rate targets
Expand Down
Loading