mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 17:20:35 +08:00
Daniel Agar
102 lines
3.6 KiB
C++
102 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2017 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 landingslope.cpp
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "Landingslope.hpp"
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#include <mathlib/mathlib.h>
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void
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Landingslope::update(float landing_slope_angle_rad_new,
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float flare_relative_alt_new,
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float motor_lim_relative_alt_new,
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float H1_virt_new)
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{
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_landing_slope_angle_rad = landing_slope_angle_rad_new;
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_flare_relative_alt = flare_relative_alt_new;
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_motor_lim_relative_alt = motor_lim_relative_alt_new;
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_H1_virt = H1_virt_new;
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calculateSlopeValues();
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}
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void
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Landingslope::calculateSlopeValues()
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{
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_H0 = _flare_relative_alt + _H1_virt;
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_d1 = _flare_relative_alt / tanf(_landing_slope_angle_rad);
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_flare_constant = (_H0 * _d1) / _flare_relative_alt;
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_flare_length = -logf(_H1_virt / _H0) * _flare_constant;
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_horizontal_slope_displacement = (_flare_length - _d1);
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}
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float
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Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance)
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{
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return Landingslope::getLandingSlopeRelativeAltitude(wp_landing_distance, _horizontal_slope_displacement,
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_landing_slope_angle_rad);
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}
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float
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Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
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float bearing_airplane_currwp)
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{
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/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
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if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) {
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return getLandingSlopeRelativeAltitude(wp_landing_distance);
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}
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return 0.0f;
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}
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float
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Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
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float bearing_airplane_currwp)
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{
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/* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */
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if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) {
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return _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance) / _flare_constant) - _H1_virt;
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}
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return 0.0f;
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}
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