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