mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-13 18:50:34 +08:00
bresch
62 lines
2.7 KiB
C++
62 lines
2.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2023 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include "HeadingSmoothing.hpp"
|
|
|
|
HeadingSmoothing::HeadingSmoothing()
|
|
{
|
|
_velocity_smoothing.setMaxVel(M_TWOPI_F); // "velocity" is heading. 2Pi limit is needed for correct angle wrapping
|
|
}
|
|
|
|
void HeadingSmoothing::reset(const float heading, const float heading_rate)
|
|
{
|
|
const float wrapped_heading = matrix::wrap_pi(heading);
|
|
_velocity_smoothing.setCurrentVelocity(wrapped_heading);
|
|
|
|
if (PX4_ISFINITE(heading_rate)) {
|
|
_velocity_smoothing.setCurrentAcceleration(heading_rate);
|
|
}
|
|
}
|
|
|
|
void HeadingSmoothing::update(const float heading_setpoint, const float time_elapsed)
|
|
{
|
|
const float delta_heading_wrapped = matrix::wrap_pi(heading_setpoint - getSmoothedHeading());
|
|
const float unwrapped_heading_setpoint = delta_heading_wrapped + getSmoothedHeading();
|
|
|
|
_velocity_smoothing.updateDurations(unwrapped_heading_setpoint);
|
|
_velocity_smoothing.updateTraj(time_elapsed);
|
|
|
|
const float wrapped_current_heading = matrix::wrap_pi(getSmoothedHeading());
|
|
_velocity_smoothing.setCurrentVelocity(wrapped_current_heading);
|
|
}
|