lib: name folders consistently

src/lib/weather_vane/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+
+px4_add_library(WeatherVane WeatherVane.cpp)

src/lib/weather_vane/WeatherVane.cpp

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 WeatherVane.cpp
+ * Weathervane controller.
+ *
+ */
+
+#include "WeatherVane.hpp"
+#include <mathlib/mathlib.h>
+
+
+WeatherVane::WeatherVane() :
+	ModuleParams(nullptr)
+{ }
+
+void WeatherVane::update(const matrix::Vector3f &dcm_z_sp_prev, float yaw)
+{
+	_dcm_z_sp_prev = dcm_z_sp_prev;
+	_yaw = yaw;
+}
+
+float WeatherVane::get_weathervane_yawrate()
+{
+	// direction of desired body z axis represented in earth frame
+	matrix::Vector3f body_z_sp(_dcm_z_sp_prev);
+
+	// rotate desired body z axis into new frame which is rotated in z by the current
+	// heading of the vehicle. we refer to this as the heading frame.
+	matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -_yaw);
+	body_z_sp = R_yaw * body_z_sp;
+	body_z_sp.normalize();
+
+	float roll_sp = -asinf(body_z_sp(1));
+
+	float roll_exceeding_treshold = 0.0f;
+	float min_roll_rad = math::radians(_param_wv_roll_min.get());
+
+	if (roll_sp > min_roll_rad) {
+		roll_exceeding_treshold = roll_sp - min_roll_rad;
+
+	} else if (roll_sp < -min_roll_rad) {
+		roll_exceeding_treshold = roll_sp + min_roll_rad;
+	}
+
+	return math::constrain(roll_exceeding_treshold * _param_wv_gain.get(), -math::radians(_param_wv_yrate_max.get()),
+			       math::radians(_param_wv_yrate_max.get()));
+}

src/lib/weather_vane/WeatherVane.hpp

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 WeatherVane.hpp
+ * @author Ivo Drescher
+ * @author Roman Bapst <roman@auterion.com>
+ *
+ * Weathervane controller.
+ *
+ */
+
+#pragma once
+
+#include <px4_platform_common/module_params.h>
+#include <matrix/matrix/math.hpp>
+
+class WeatherVane : public ModuleParams
+{
+public:
+	WeatherVane();
+
+	~WeatherVane() = default;
+
+	void activate() {_is_active = true;}
+
+	void deactivate() {_is_active = false;}
+
+	bool is_active() {return _is_active;}
+
+	bool weathervane_enabled() { return _param_wv_en.get(); }
+
+	void update(const matrix::Vector3f &dcm_z_sp_prev, float yaw);
+
+	float get_weathervane_yawrate();
+
+	void update_parameters() { ModuleParams::updateParams(); }
+
+private:
+	matrix::Vector3f _dcm_z_sp_prev; ///< previous attitude setpoint body z axis
+	float _yaw = 0.0f; ///< current yaw angle
+
+	bool _is_active = true;
+
+	DEFINE_PARAMETERS(
+		(ParamBool<px4::params::WV_EN>) _param_wv_en,
+		(ParamFloat<px4::params::WV_ROLL_MIN>) _param_wv_roll_min,
+		(ParamFloat<px4::params::WV_GAIN>) _param_wv_gain,
+		(ParamFloat<px4::params::WV_YRATE_MAX>) _param_wv_yrate_max
+	)
+
+};

src/lib/weather_vane/weathervane_params.c

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 weathervane_params.c
+ *
+ * Parameters defined by the weathervane lib.
+ *
+ * @author Roman Bapst <roman@auterion.com>
+ */
+
+/**
+ * Enable weathervane.
+ *
+ * @boolean
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_INT32(WV_EN, 0);
+
+/**
+ * Weather-vane roll angle to yawrate.
+ *
+ * The desired gain to convert roll sp into yaw rate sp.
+ *
+ * @min 0.0
+ * @max 3.0
+ * @unit 1/s
+ * @increment 0.01
+ * @decimal 3
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(WV_GAIN, 1.0f);
+
+/**
+ * Minimum roll angle setpoint for weathervane controller to demand a yaw-rate.
+ *
+ * @min 0
+ * @max 5
+ * @unit deg
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(WV_ROLL_MIN, 1.0f);
+
+/**
+ * Maximum yawrate the weathervane controller is allowed to demand.
+ *
+ * @min 0
+ * @max 120
+ * @unit deg/s
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(WV_YRATE_MAX, 90.0f);