WeatherVane.hpp
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/****************************************************************************
*
* Copyright (c) 2018 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.
*
****************************************************************************/
/**
* @file WeatherVane.hpp
* @author Ivo Drescher
* @author Roman Bapst <roman@auterion.com>
*
* Weathervane controller.
*
*/
#pragma once
#include <px4_platform_common/module_params.h>
#include <matrix/matrix/math.hpp>
class WeatherVane : public ModuleParams
{
public:
WeatherVane();
~WeatherVane() = default;
void activate() {_is_active = true;}
void deactivate() {_is_active = false;}
bool is_active() {return _is_active;}
bool weathervane_enabled() { return _param_wv_en.get(); }
void update(const matrix::Vector3f &dcm_z_sp_prev, float yaw);
float get_weathervane_yawrate();
void update_parameters() { ModuleParams::updateParams(); }
private:
matrix::Vector3f _dcm_z_sp_prev; ///< previous attitude setpoint body z axis
float _yaw = 0.0f; ///< current yaw angle
bool _is_active = true;
DEFINE_PARAMETERS(
(ParamBool<px4::params::WV_EN>) _param_wv_en,
(ParamFloat<px4::params::WV_ROLL_MIN>) _param_wv_roll_min,
(ParamFloat<px4::params::WV_GAIN>) _param_wv_gain,
(ParamFloat<px4::params::WV_YRATE_MAX>) _param_wv_yrate_max
)
};