controlador de atitude
Diff: AttitudeController/AttitudeController.cpp
- Revision:
- 2:54fabc943f25
- Parent:
- 0:3871dc7bedf7
- Child:
- 8:c96125e9ac70
--- a/AttitudeController/AttitudeController.cpp Wed Oct 10 11:19:54 2018 +0000 +++ b/AttitudeController/AttitudeController.cpp Tue Oct 16 21:57:19 2018 +0000 @@ -10,19 +10,24 @@ // Control torques given reference angles and current angles and angular velocities void AttitudeController::control ( float phi_r, float theta_r, float psi_r, float phi, float theta, float psi) { - tau_phi=single_axis_control ( phi_r , phi , Kp_phi , Td_phi , I_xx, last_erro_phi); - last_erro_phi=last_erro; - psi_r=single_axis_control ( psi_r , psi , Kp_psi , Td_psi , I_zz, last_erro_psi); - last_erro_psi=last_erro; - theta_r=single_axis_control ( theta_r , theta , Kp_theta , Td_theta , I_yy, last_erro_theta); - last_erro_theta=last_erro; + tau_phi = single_axis_control ( phi_r , phi , Kp_phi , Td_phi , I_xx, last_erro_phi); + + last_erro_phi = last_erro; + + tau_theta = single_axis_control ( psi_r , psi , Kp_psi , Td_psi , I_zz, last_erro_psi); + + last_erro_theta = last_erro; + + tau_psi = single_axis_control ( theta_r , theta , Kp_theta , Td_theta , I_yy, last_erro_theta); + + last_erro_psi = last_erro; } // Control torque of a single axis given reference angles and current angles and angular velocities ( with given gains and /or time constants and moments of inertia ) float AttitudeController :: single_axis_control ( float angle_r , float angle , float K_angle , float K_rate , float I, float last_erro_angle) { - float erro=angle_r-angle; - float erro_p = (erro-last_erro_angle)/dt2; - last_erro=erro; + float erro = angle_r - angle; + float erro_p = (erro - last_erro_angle)/dt2; + last_erro = erro; float angle_2p = K_angle*(erro+1/K_rate*erro_p); return I*angle_2p; }