WeatherVane.cpp
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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.cpp
* Weathervane controller.
*
*/
#include "WeatherVane.hpp"
#include <mathlib/mathlib.h>
WeatherVane::WeatherVane() :
ModuleParams(nullptr)
{ }
void WeatherVane::update(const matrix::Vector3f &dcm_z_sp_prev, float yaw)
{
_dcm_z_sp_prev = dcm_z_sp_prev;
_yaw = yaw;
}
float WeatherVane::get_weathervane_yawrate()
{
// direction of desired body z axis represented in earth frame
matrix::Vector3f body_z_sp(_dcm_z_sp_prev);
// rotate desired body z axis into new frame which is rotated in z by the current
// heading of the vehicle. we refer to this as the heading frame.
matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -_yaw);
body_z_sp = R_yaw * body_z_sp;
body_z_sp.normalize();
float roll_sp = -asinf(body_z_sp(1));
float roll_exceeding_treshold = 0.0f;
float min_roll_rad = math::radians(_param_wv_roll_min.get());
if (roll_sp > min_roll_rad) {
roll_exceeding_treshold = roll_sp - min_roll_rad;
} else if (roll_sp < -min_roll_rad) {
roll_exceeding_treshold = roll_sp + min_roll_rad;
}
return math::constrain(roll_exceeding_treshold * _param_wv_gain.get(), -math::radians(_param_wv_yrate_max.get()),
math::radians(_param_wv_yrate_max.get()));
}