PX4 Firmware
PX4 Autopilot Software http://px4.io
WeatherVane.cpp
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33 
34 /**
35  * @file WeatherVane.cpp
36  * Weathervane controller.
37  *
38  */
39 
40 #include "WeatherVane.hpp"
41 #include <mathlib/mathlib.h>
42 
43 
45  ModuleParams(nullptr)
46 { }
47 
48 void WeatherVane::update(const matrix::Vector3f &dcm_z_sp_prev, float yaw)
49 {
50  _dcm_z_sp_prev = dcm_z_sp_prev;
51  _yaw = yaw;
52 }
53 
55 {
56  // direction of desired body z axis represented in earth frame
58 
59  // rotate desired body z axis into new frame which is rotated in z by the current
60  // heading of the vehicle. we refer to this as the heading frame.
61  matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -_yaw);
62  body_z_sp = R_yaw * body_z_sp;
63  body_z_sp.normalize();
64 
65  float roll_sp = -asinf(body_z_sp(1));
66 
67  float roll_exceeding_treshold = 0.0f;
68  float min_roll_rad = math::radians(_param_wv_roll_min.get());
69 
70  if (roll_sp > min_roll_rad) {
71  roll_exceeding_treshold = roll_sp - min_roll_rad;
72 
73  } else if (roll_sp < -min_roll_rad) {
74  roll_exceeding_treshold = roll_sp + min_roll_rad;
75  }
76 
77  return math::constrain(roll_exceeding_treshold * _param_wv_gain.get(), -math::radians(_param_wv_yrate_max.get()),
78  math::radians(_param_wv_yrate_max.get()));
79 }
constexpr _Tp constrain(_Tp val, _Tp min_val, _Tp max_val)
Definition: Limits.hpp:66
void normalize()
Definition: Vector.hpp:87
float get_weathervane_yawrate()
Definition: WeatherVane.cpp:54
void update(const matrix::Vector3f &dcm_z_sp_prev, float yaw)
Definition: WeatherVane.cpp:48
constexpr T radians(T degrees)
Definition: Limits.hpp:85
Vector< float, 6 > f(float t, const Matrix< float, 6, 1 > &, const Matrix< float, 3, 1 > &)
Definition: integration.cpp:8
Euler< float > Eulerf
Definition: Euler.hpp:156
float _yaw
current yaw angle
Definition: WeatherVane.hpp:71
matrix::Vector3f _dcm_z_sp_prev
previous attitude setpoint body z axis
Definition: WeatherVane.hpp:70