各位前輩好 有關arducopter的PosControl

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Chinlin January 15, 2016 at 1:19am

你應該是指AC_PosControl class吧

PosControl只是物件, 裡面有很多functions, 端看你指哪個function而定
- Jason Lin > Chinlin January 17, 2016 at 3:47am
  
  我後來有仔細看了一遍
  
  流程大概是
  
  1.pos_to_rate_xy 位置轉速度
  
  2.rate_to_accel_xy 速度轉加速度
  
  3.accel_to_lean_angles 加速轉成target_roll跟target_pitch
  
  4.最後把target_roll跟target_pitch送到姿態控制器
  
  不過我看不懂的地方為這一段
  
  _pitch_target = constrain_float(atanf(-accel_forward/(GRAVITY_MSS * 100))*(18000/M_PI_F),-lean_angle_max, lean_angle_max);
  
  float cos_pitch_target = cosf(_pitch_target*M_PI_F/18000);
  
  _roll_target = constrain_float(atanf(accel_right*cos_pitch_target/(GRAVITY_MSS * 100))*(18000/M_PI_F), -lean_angle_max, lean_angle_max);
  
  不知道為什麼是用arctan去轉成pitch_target跟roll_target 不知道是用什麼理論解的
- Chinlin > Jason Lin January 17, 2016 at 6:48pm
  
  三角函數去算分向量
- Jason Lin > Chinlin January 17, 2016 at 11:19pm
  
  前輩我推了一陣子還是不太清楚他們的關係
  
  為什麼_roll_target的arctan裡面需要使用cos_pitch_target
  
  小的數學不是很好在這邊請教一下前輩
- Chinlin > Jason Lin January 18, 2016 at 12:51am
  
  你畫個座標..訂出yaw,roll,pitch ...然後依照他的code logic去推..哪一邊是斜邊/鄰邊/對邊
  ex: cos = 鄰邊/斜邊去推應該能推出來
  
  鄰邊
- Jason Lin > Chinlin January 18, 2016 at 12:53am
  
  收到!!!!
  
  感謝建議!!!
- Jason Lin > Chinlin January 17, 2016 at 8:14pm
  
  原來如此
  
  感謝前輩解答!

Taiwan ROC ArduPilot Group

各位前輩好有關arducopter的PosControl

Replies