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102 lines
3.7 KiB
C++
102 lines
3.7 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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#pragma once
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#include "common.h"
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#include "gimbal_params.h"
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#include <drivers/drv_hrt.h>
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#include <lib/geo/geo.h>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/mount_orientation.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_global_position.h>
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namespace gimbal
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{
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class OutputBase
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{
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public:
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OutputBase() = delete;
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explicit OutputBase(const Parameters ¶meters);
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virtual ~OutputBase() = default;
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virtual void update(const ControlData &control_data, bool new_setpoints) = 0;
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virtual void print_status() const = 0;
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void publish();
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void set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool yaw_stabilize);
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protected:
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float _calculate_pitch(double lon, double lat, float altitude,
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const vehicle_global_position_s &global_position);
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MapProjection _projection_reference{}; ///< class to convert (lon, lat) to local [m]
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const Parameters &_parameters;
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/** set angle setpoints, speeds & stabilize flags */
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void _set_angle_setpoints(const ControlData &control_data);
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void _handle_position_update(const ControlData &control_data, bool force_update = false);
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float _q_setpoint[4] = { NAN, NAN, NAN, NAN }; ///< can be NAN if not specifically set
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float _angle_velocity[3] = { NAN, NAN, NAN }; //< [rad/s], can be NAN if not specifically set
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bool _stabilize[3] = { false, false, false };
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// Pitch and role are by default aligned with the horizon.
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// Yaw follows the vehicle (not lock/absolute mode).
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bool _absolute_angle[3] = {true, true, false };
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/** calculate the _angle_outputs (with speed) and stabilize if needed */
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void _calculate_angle_output(const hrt_abstime &t);
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float _angle_outputs[3] = { 0.f, 0.f, 0.f }; ///< calculated output angles (roll, pitch, yaw) [rad]
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hrt_abstime _last_update;
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private:
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
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uORB::Publication<mount_orientation_s> _mount_orientation_pub{ORB_ID(mount_orientation)};
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};
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} /* namespace gimbal */
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