StickYaw.hpp
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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.hpp
* @brief Generate yaw and angular yawspeed setpoints from stick input
* @author Matthias Grob <maetugr@gmail.com>
*/
#pragma once
#include "SlewRate.hpp"
class StickYaw
{
public:
StickYaw() = default;
~StickYaw() = default;
void generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint, const float desired_yawspeed, const float yaw,
const float deltatime);
private:
SlewRate<float> _yawspeed_slew_rate;
/**
* Lock yaw when not currently turning
* When applying a yawspeed the vehicle is turning, when the speed is
* set to zero the vehicle needs to slow down and then lock at the yaw
* it stops at to not drift over time.
* @param yawspeed current yaw rotational rate state
* @param yaw current yaw rotational rate state
* @param yawspeed_setpoint rotation rate at which to turn around yaw axis
* @param yaw current yaw setpoint which then will be overwritten by the return value
* @return yaw setpoint to execute to have a yaw lock at the correct moment in time
*/
static float updateYawLock(const float yaw, const float yawspeed_setpoint, const float yaw_setpoint);
};