AC_AttitudeControl: Add function to limit target attitude thrust angle #28316
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IamPete1
reviewed
Oct 5, 2024
| Quaternion attitude_body; | ||
| _ahrs.get_quat_body_to_ned(attitude_body); | ||
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| Vector3f gyro = _ahrs.get_gyro_latest(); |
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Should we be using the new _rate_gyro variable that was recently added?
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priseborough
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Oct 7, 2024
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| // the cross product of the current thrust vector and vertical thrust vector defines the rotation vector | ||
| Vector3f thrust_vec_cross = thrust_vec % thrust_vector_up; |
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Can you confirm that this vector is intended to be the target rotation vector to get back to upright?
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OK, I figured it out. The subsequent usage is consistent with that definition.
priseborough
reviewed
Oct 7, 2024
| attitude_target_offset.from_axis_angle(thrust_vec_cross, thrust_correction_angle); | ||
| _attitude_target = attitude_target_offset * attitude_body; | ||
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| // Set angular velocity targets when further than 1.25 * thrust_angle_max_cd |
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Based on my reading of this code this would be more accurately described as:
// Angular velocity targets must be zeroed at large thrust angles to prevent them from preventing efficient recovery
// so zero angular velocity targets when tilted more than 1.25 * thrust_angle_max_cd
// Interpolate between an unmodified ang_vel_target at thrust_angle_max and zero at 1.25 * thrust_angle_max
// This ensures small angles past thrust_angle_max_cd do not zero angular velocity targets and prevent full recovery
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This PR provides a feature for use in plane to limit the maximum target angle.
When the target angle is above a given value the current attitude is used to determine the minimum rotation vector back to within the allowable lean angle using only roll and pitch.