WeatherVane.hpp

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/**
 * @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
    )

};