mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-27 02:00:34 +08:00
Matthias Grob
95 lines
3.8 KiB
C++
95 lines
3.8 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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 *parent) :
|
|
ModuleParams(parent)
|
|
{ }
|
|
|
|
void WeatherVane::update()
|
|
{
|
|
vehicle_control_mode_s vehicle_control_mode;
|
|
|
|
if (_vehicle_control_mode_sub.update(&vehicle_control_mode)) {
|
|
_flag_control_manual_enabled = vehicle_control_mode.flag_control_manual_enabled;
|
|
_flag_control_position_enabled = vehicle_control_mode.flag_control_position_enabled;
|
|
}
|
|
|
|
// Weathervane needs to be enabled by parameter
|
|
// in manual we use weathervane just if position is controlled as well
|
|
// in mission we use weathervane except for when navigator disables it
|
|
_is_active = _param_wv_en.get()
|
|
&& ((_flag_control_manual_enabled && _flag_control_position_enabled)
|
|
|| (!_flag_control_manual_enabled && !_navigator_force_disabled));
|
|
}
|
|
|
|
float WeatherVane::getWeathervaneYawrate()
|
|
{
|
|
// direction of desired body z axis represented in earth frame
|
|
vehicle_attitude_setpoint_s vehicle_attitude_setpoint;
|
|
_vehicle_attitude_setpoint_sub.copy(&vehicle_attitude_setpoint);
|
|
matrix::Vector3f body_z_sp(matrix::Quatf(vehicle_attitude_setpoint.q_d).dcm_z()); // attitude setpoint body z axis
|
|
|
|
// 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.
|
|
vehicle_local_position_s vehicle_local_position{};
|
|
_vehicle_local_position_sub.copy(&vehicle_local_position);
|
|
matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -vehicle_local_position.heading);
|
|
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()));
|
|
}
|