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72 lines
2.8 KiB
C++
72 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 StickYaw.cpp
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*/
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#include "StickYaw.hpp"
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#include <px4_platform_common/defines.h>
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StickYaw::StickYaw()
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{
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_yawspeed_slew_rate.setSlewRate(2.f * M_PI_F);
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}
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void StickYaw::generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint, const float desired_yawspeed,
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const float yaw, const bool is_yaw_good_for_control, const float deltatime)
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{
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yawspeed_setpoint = _yawspeed_slew_rate.update(desired_yawspeed, deltatime);
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yaw_setpoint = updateYawLock(yaw, yawspeed_setpoint, yaw_setpoint, is_yaw_good_for_control);
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}
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float StickYaw::updateYawLock(const float yaw, const float yawspeed_setpoint, const float yaw_setpoint,
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const bool is_yaw_good_for_control)
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{
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// Yaw-lock depends on desired yawspeed input. If not locked, yaw_sp is set to NAN.
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if ((fabsf(yawspeed_setpoint) > FLT_EPSILON) || !is_yaw_good_for_control) {
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// no fixed heading when rotating around yaw by stick
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return NAN;
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} else {
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// break down and hold the current heading when no more rotation commanded
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if (!PX4_ISFINITE(yaw_setpoint)) {
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return yaw;
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} else {
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return yaw_setpoint;
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}
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}
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}
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