mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 06:03:33 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
83 lines
2.7 KiB
C++
83 lines
2.7 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.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
|
|
)
|
|
|
|
};
|