ADD tilt twist control (twist around z) #2782
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This commit implements tilt twist control for vehicles that rotate slow in the z axis compared to the other axes (like tailsitters). The attitude error is decomposed in a tilt and a twist part, and the tilt error is compensated assuming that the rotation around z is zero (very slow in comparison).
gautierhattenberger
requested changes
Sep 22, 2021
| @@ -618,6 +618,39 @@ void float_quat_of_rmat(struct FloatQuat *q, struct FloatRMat *rm) | |||
| } | |||
| } | |||
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| #include <stdio.h> | |||
| #include <stdio.h> | ||
| /** | ||
| * @brief Tilt twist decomposition of a quaternion (z axis) | ||
| * |
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maybe provide a bit of mathematical details ? it is not so obvious what this function does
| @@ -481,6 +481,9 @@ extern void float_quat_of_orientation_vect(struct FloatQuat *q, const struct Flo | |||
| /// Quaternion from rotation matrix. | |||
| extern void float_quat_of_rmat(struct FloatQuat *q, struct FloatRMat *rm); | |||
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| /// Tilt twist decomposition of quaternion | |||
| void float_quat_tilt_twist(struct FloatQuat *tilt, struct FloatQuat *twist, struct FloatQuat *quat); | |||
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add extern, for consistency, it is technically not needed
gautierhattenberger
added
Airborne
Enhancement
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@gautierhattenberger thanks for your comments, sorry I guess I was a bit hasty pushing this! It is tested though 😇 |
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This commit implements tilt twist control for vehicles that rotate slow
in the z axis compared to the other axes (like tailsitters).
The attitude error is decomposed in a tilt and a twist part, and the
tilt error is compensated assuming that the rotation around z is zero
(very slow in comparison).
I can add the test to the other algebra tests if needed.