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Rename vmount to gimbal
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Julian Oes
@@ -0,0 +1,245 @@
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/****************************************************************************
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*
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* Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "output.h"
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/mount_orientation.h>
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#include <px4_platform_common/defines.h>
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#include <lib/geo/geo.h>
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#include <math.h>
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#include <mathlib/mathlib.h>
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#include <matrix/math.hpp>
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namespace gimbal
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{
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OutputBase::OutputBase(const Parameters ¶meters)
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: _parameters(parameters)
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{
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_last_update = hrt_absolute_time();
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}
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void OutputBase::publish()
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{
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mount_orientation_s mount_orientation{};
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for (unsigned i = 0; i < 3; ++i) {
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mount_orientation.attitude_euler_angle[i] = _angle_outputs[i];
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}
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mount_orientation.timestamp = hrt_absolute_time();
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_mount_orientation_pub.publish(mount_orientation);
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}
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float OutputBase::_calculate_pitch(double lon, double lat, float altitude,
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const vehicle_global_position_s &global_position)
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{
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if (!_projection_reference.isInitialized()) {
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_projection_reference.initReference(global_position.lat, global_position.lon);
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}
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float x1, y1, x2, y2;
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_projection_reference.project(lat, lon, x1, y1);
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_projection_reference.project(global_position.lat, global_position.lon, x2, y2);
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float dx = x1 - x2, dy = y1 - y2;
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float target_distance = sqrtf(dx * dx + dy * dy);
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float z = altitude - global_position.alt;
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return atan2f(z, target_distance);
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}
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void OutputBase::_set_angle_setpoints(const ControlData &control_data)
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{
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switch (control_data.type) {
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case ControlData::Type::Angle:
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{
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for (int i = 0; i < 3; ++i) {
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switch (control_data.type_data.angle.frames[i]) {
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case ControlData::TypeData::TypeAngle::Frame::AngularRate:
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break;
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case ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame:
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_absolute_angle[i] = false;
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break;
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case ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame:
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_absolute_angle[i] = true;
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break;
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}
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_angle_velocity[i] = control_data.type_data.angle.angular_velocity[i];
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}
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for (int i = 0; i < 4; ++i) {
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_q_setpoint[i] = control_data.type_data.angle.q[i];
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}
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}
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break;
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case ControlData::Type::LonLat:
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_handle_position_update(control_data, true);
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break;
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case ControlData::Type::Neutral:
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_q_setpoint[0] = 1.f;
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_q_setpoint[1] = 0.f;
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_q_setpoint[2] = 0.f;
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_q_setpoint[3] = 0.f;
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_angle_velocity[0] = NAN;
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_angle_velocity[1] = NAN;
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_angle_velocity[2] = NAN;
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break;
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}
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}
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void OutputBase::_handle_position_update(const ControlData &control_data, bool force_update)
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{
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if (control_data.type != ControlData::Type::LonLat) {
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return;
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}
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vehicle_global_position_s vehicle_global_position{};
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if (force_update) {
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_vehicle_global_position_sub.copy(&vehicle_global_position);
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} else {
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if (!_vehicle_global_position_sub.update(&vehicle_global_position)) {
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return;
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}
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}
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const double &vlat = vehicle_global_position.lat;
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const double &vlon = vehicle_global_position.lon;
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const double &lat = control_data.type_data.lonlat.lat;
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const double &lon = control_data.type_data.lonlat.lon;
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const float &alt = control_data.type_data.lonlat.altitude;
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float roll = PX4_ISFINITE(control_data.type_data.lonlat.roll_offset)
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? control_data.type_data.lonlat.roll_offset
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: 0.0f;
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// interface: use fixed pitch value > -pi otherwise consider ROI altitude
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float pitch = (control_data.type_data.lonlat.pitch_fixed_angle >= -M_PI_F) ?
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control_data.type_data.lonlat.pitch_fixed_angle :
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_calculate_pitch(lon, lat, alt, vehicle_global_position);
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float yaw = get_bearing_to_next_waypoint(vlat, vlon, lat, lon);
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// We set the yaw angle in the absolute frame in this case.
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_absolute_angle[2] = true;
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// add offsets from VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET
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if (PX4_ISFINITE(control_data.type_data.lonlat.pitch_offset)) {
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pitch += control_data.type_data.lonlat.pitch_offset;
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}
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if (PX4_ISFINITE(control_data.type_data.lonlat.yaw_offset)) {
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yaw += control_data.type_data.lonlat.yaw_offset;
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}
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matrix::Quatf(matrix::Eulerf(roll, pitch, yaw)).copyTo(_q_setpoint);
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_angle_velocity[0] = NAN;
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_angle_velocity[1] = NAN;
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_angle_velocity[2] = NAN;
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}
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void OutputBase::_calculate_angle_output(const hrt_abstime &t)
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{
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// We only need to apply additional compensation if the required angle is
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// absolute (world frame) as well as the gimbal is not capable of doing that
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// calculation. (Most gimbals stabilize at least roll and pitch
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// and only need compensation for yaw, if at all.)
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bool compensate[3];
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for (int i = 0; i < 3; ++i) {
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compensate[i] = _stabilize[i] && _absolute_angle[i];
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}
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// get the output angles and stabilize if necessary
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matrix::Eulerf euler_vehicle{};
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if (compensate[0] || compensate[1] || compensate[2]) {
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vehicle_attitude_s vehicle_attitude{};
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if (_vehicle_attitude_sub.copy(&vehicle_attitude)) {
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euler_vehicle = matrix::Quatf(vehicle_attitude.q);
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}
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}
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float dt = math::constrain((t - _last_update) * 1.e-6f, 0.001f, 1.f);
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const bool q_setpoint_valid = PX4_ISFINITE(_q_setpoint[0]) && PX4_ISFINITE(_q_setpoint[1])
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&& PX4_ISFINITE(_q_setpoint[2]) && PX4_ISFINITE(_q_setpoint[3]);
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matrix::Eulerf euler_gimbal{};
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if (q_setpoint_valid) {
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euler_gimbal = matrix::Quatf{_q_setpoint};
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}
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for (int i = 0; i < 3; ++i) {
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if (q_setpoint_valid && PX4_ISFINITE(euler_gimbal(i))) {
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_angle_outputs[i] = euler_gimbal(i);
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}
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if (PX4_ISFINITE(_angle_velocity[i])) {
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_angle_outputs[i] += dt * _angle_velocity[i];
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}
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if (compensate[i] && PX4_ISFINITE(euler_vehicle(i))) {
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_angle_outputs[i] -= euler_vehicle(i);
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}
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if (PX4_ISFINITE(_angle_outputs[i])) {
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// bring angles into proper range [-pi, pi]
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_angle_outputs[i] = matrix::wrap_pi(_angle_outputs[i]);
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}
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}
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}
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void OutputBase::set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool yaw_stabilize)
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{
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_stabilize[0] = roll_stabilize;
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_stabilize[1] = pitch_stabilize;
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_stabilize[2] = yaw_stabilize;
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}
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} /* namespace gimbal */
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