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71 lines
3.0 KiB
C++
71 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2023 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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/**
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* @file AttitudeControlMath.hpp
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*/
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#pragma once
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#include <matrix/matrix/math.hpp>
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namespace AttitudeControlMath
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{
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/**
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* Rotate a tilt quaternion (without yaw rotation) such that when rotated by a yaw setpoint
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* the resulting tilt is the same as if it was rotated by the current yaw of the vehicle
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* @param q_sp_tilt pure tilt quaternion (yaw = 0) that needs to be corrected
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* @param q_att current attitude of the vehicle
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* @param q_sp_yaw pure yaw quaternion of the desired yaw setpoint
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*/
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void inline correctTiltSetpointForYawError(matrix::Quatf &q_sp_tilt, const matrix::Quatf &q_att,
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const matrix::Quatf &q_sp_yaw)
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{
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const matrix::Vector3f z_unit(0.f, 0.f, 1.f);
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// Extract yaw from the current attitude
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const matrix::Vector3f att_z = q_att.dcm_z();
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const matrix::Quatf q_tilt(z_unit, att_z);
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const matrix::Quatf q_yaw = q_tilt.inversed() * q_att; // This is not euler yaw
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// Find the quaternion that creates a tilt aligned with the body frame
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// when rotated by the yaw setpoint
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// To do so, solve q_yaw * q_tilt_ne = q_sp_yaw * q_sp_rp_compensated
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const matrix::Quatf q_sp_rp_compensated = q_sp_yaw.inversed() * q_yaw * q_sp_tilt;
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// Extract the corrected tilt
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const matrix::Vector3f att_sp_z = q_sp_rp_compensated.dcm_z();
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q_sp_tilt = matrix::Quatf(z_unit, att_sp_z);
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}
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}
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