fw_pos_control_l1 rename Landingslope to match case

src/modules/fw_pos_control_l1/Landingslope.cpp

@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file landingslope.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include "Landingslope.hpp"
+
+#include <mathlib/mathlib.h>
+
+void
+Landingslope::update(float landing_slope_angle_rad_new,
+		     float flare_relative_alt_new,
+		     float motor_lim_relative_alt_new,
+		     float H1_virt_new)
+{
+
+	_landing_slope_angle_rad = landing_slope_angle_rad_new;
+	_flare_relative_alt = flare_relative_alt_new;
+	_motor_lim_relative_alt = motor_lim_relative_alt_new;
+	_H1_virt = H1_virt_new;
+
+	calculateSlopeValues();
+}
+
+void
+Landingslope::calculateSlopeValues()
+{
+	_H0 =  _flare_relative_alt + _H1_virt;
+	_d1 = _flare_relative_alt / tanf(_landing_slope_angle_rad);
+	_flare_constant = (_H0 * _d1) / _flare_relative_alt;
+	_flare_length = -logf(_H1_virt / _H0) * _flare_constant;
+	_horizontal_slope_displacement = (_flare_length - _d1);
+}
+
+float
+Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance)
+{
+	return Landingslope::getLandingSlopeRelativeAltitude(wp_landing_distance, _horizontal_slope_displacement,
+			_landing_slope_angle_rad);
+}
+
+float
+Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
+		float bearing_airplane_currwp)
+{
+	/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
+	if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) {
+		return getLandingSlopeRelativeAltitude(wp_landing_distance);
+
+	} else {
+		return 0.0f;
+	}
+}
+
+float
+Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
+		float bearing_airplane_currwp)
+{
+	/* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */
+	if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) {
+		return _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance) / _flare_constant) - _H1_virt;
+
+	} else {
+		return 0.0f;
+	}
+}