mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 11:27:34 +08:00
Julian Oes
129 lines
4.8 KiB
C++
129 lines
4.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2022 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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#include "input_test.h"
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/log.h>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/mathlib/mathlib.h>
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namespace gimbal
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{
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InputTest::InputTest(Parameters ¶meters) :
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InputBase(parameters)
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{}
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InputTest::UpdateResult InputTest::update(unsigned int timeout_ms, ControlData &control_data, bool already_active)
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{
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if (!_has_been_set.load()) {
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return UpdateResult::NoUpdate;
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}
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control_data.type = ControlData::Type::Angle;
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control_data.timestamp_last_update = hrt_absolute_time();
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if (PX4_ISFINITE(_roll_deg) && PX4_ISFINITE(_pitch_deg) && PX4_ISFINITE(_yaw_deg)) {
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control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame;
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control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame;
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control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
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matrix::Eulerf euler(
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math::radians((float)_roll_deg),
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math::radians((float)_pitch_deg),
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math::radians((float)_yaw_deg));
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matrix::Quatf q(euler);
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q.copyTo(control_data.type_data.angle.q);
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} else {
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control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngularRate;
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control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngularRate;
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control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngularRate;
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control_data.type_data.angle.q[0] = NAN;
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control_data.type_data.angle.q[1] = NAN;
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control_data.type_data.angle.q[2] = NAN;
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control_data.type_data.angle.q[3] = NAN;
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control_data.type_data.angle.angular_velocity[0] = math::radians(_rollrate_deg_s);
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control_data.type_data.angle.angular_velocity[1] = math::radians(_pitchrate_deg_s);
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control_data.type_data.angle.angular_velocity[2] = math::radians(_yawrate_deg_s);
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}
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// For testing we mark ourselves as in control.
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control_data.sysid_primary_control = _parameters.mav_sysid;
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control_data.compid_primary_control = _parameters.mav_compid;
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_has_been_set.store(false);
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return UpdateResult::UpdatedActive;
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}
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int InputTest::initialize()
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{
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return 0;
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}
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void InputTest::print_status() const
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{
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PX4_INFO("Input: Test");
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PX4_INFO_RAW(" roll : % .1f deg\n", (double)_roll_deg);
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PX4_INFO_RAW(" pitch: % .1f deg\n", (double)_pitch_deg);
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PX4_INFO_RAW(" yaw : % .1f deg\n", (double)_yaw_deg);
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PX4_INFO_RAW(" rollrate : % .1f deg/s\n", (double)_rollrate_deg_s);
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PX4_INFO_RAW(" pitchrate: % .1f deg/s\n", (double)_pitchrate_deg_s);
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PX4_INFO_RAW(" yawrate : % .1f deg/s\n", (double)_yawrate_deg_s);
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}
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void InputTest::set_test_input_angles(float roll_deg, float pitch_deg, float yaw_deg)
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{
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_roll_deg = roll_deg;
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_pitch_deg = pitch_deg;
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_yaw_deg = yaw_deg;
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_rollrate_deg_s = NAN;
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_pitchrate_deg_s = NAN;
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_yawrate_deg_s = NAN;
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_has_been_set.store(true);
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}
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void InputTest::set_test_input_angle_rates(float rollrate_deg_s, float pitchrate_deg_s, float yawrate_deg_s)
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{
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_roll_deg = NAN;
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_pitch_deg = NAN;
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_yaw_deg = NAN;
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_rollrate_deg_s = rollrate_deg_s;
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_pitchrate_deg_s = pitchrate_deg_s;
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_yawrate_deg_s = yawrate_deg_s;
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_has_been_set.store(true);
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}
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} /* namespace gimbal */
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