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Roman
83 lines
2.8 KiB
C++
83 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 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 WeatherVane.cpp
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* Weathervane controller.
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*
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*/
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#include "WeatherVane.hpp"
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#include <mathlib/mathlib.h>
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WeatherVane::WeatherVane()
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{
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_q_sp_prev = matrix::Quatf();
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}
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void WeatherVane::update(matrix::Quatf q_sp_prev, float yaw)
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{
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_q_sp_prev = q_sp_prev;
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_yaw = yaw;
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}
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float WeatherVane::get_weathervane_yawrate()
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{
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matrix::Dcmf R_sp(_q_sp_prev);
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// direction of desired body z axis represented in earth frame
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matrix::Vector3f body_z_sp(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
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// rotate desired body z axis into new frame which is rotated in z by the current
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// heading of the vehicle. we refer to this as the heading frame.
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matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -_yaw);
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body_z_sp = R_yaw * body_z_sp;
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body_z_sp.normalize();
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float roll_sp = -asinf(body_z_sp(1));
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float roll_exceeding_treshold = 0;
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if (roll_sp > _wv_min_roll_rad) {
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roll_exceeding_treshold = roll_sp - _wv_min_roll_rad;
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} else if (roll_sp < -_wv_min_roll_rad) {
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roll_exceeding_treshold = roll_sp + _wv_min_roll_rad;
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}
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return math::constrain(roll_exceeding_treshold * _wv_gain, -_wv_yawrate_max_rad,
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_wv_yawrate_max_rad);
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}
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