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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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103 lines
3.6 KiB
C++
103 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 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 uorb_blocks.cpp
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*
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* uorb block library code
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*/
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#include "blocks.hpp"
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#include <geo/geo.h>
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namespace control
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{
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BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_xtYawLimit(this, "XT2YAW"),
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_xt2Yaw(this, "XT2YAW"),
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_psiCmd(0)
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{
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}
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BlockWaypointGuidance::~BlockWaypointGuidance() {};
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void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
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vehicle_attitude_s &att,
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position_setpoint_s &missionCmd,
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position_setpoint_s &lastMissionCmd)
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{
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// heading to waypoint
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float psiTrack = get_bearing_to_next_waypoint(
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(double)pos.lat / (double)1e7d,
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(double)pos.lon / (double)1e7d,
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missionCmd.lat,
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missionCmd.lon);
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// cross track
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struct crosstrack_error_s xtrackError;
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get_distance_to_line(&xtrackError,
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(double)pos.lat / (double)1e7d,
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(double)pos.lon / (double)1e7d,
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lastMissionCmd.lat,
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lastMissionCmd.lon,
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missionCmd.lat,
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missionCmd.lon);
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_psiCmd = _wrap_2pi(psiTrack -
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_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
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}
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BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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// subscriptions
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_att(ORB_ID(vehicle_attitude), 20, &getSubscriptions()),
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_attCmd(ORB_ID(vehicle_attitude_setpoint), 20, &getSubscriptions()),
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_ratesCmd(ORB_ID(vehicle_rates_setpoint), 20, &getSubscriptions()),
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_pos(ORB_ID(vehicle_global_position), 20, &getSubscriptions()),
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_missionCmd(ORB_ID(position_setpoint_triplet), 20, &getSubscriptions()),
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_manual(ORB_ID(manual_control_setpoint), 20, &getSubscriptions()),
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_status(ORB_ID(vehicle_status), 20, &getSubscriptions()),
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_param_update(ORB_ID(parameter_update), 1000, &getSubscriptions()), // limit to 1 Hz
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// publications
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_actuators(ORB_ID(actuator_controls_0), &getPublications())
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{
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}
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BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
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} // namespace control
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