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Diffstat (limited to 'src/modules/controllib/uorb/blocks.cpp')
| -rw-r--r-- | src/modules/controllib/uorb/blocks.cpp | 101 |
1 files changed, 101 insertions, 0 deletions
diff --git a/src/modules/controllib/uorb/blocks.cpp b/src/modules/controllib/uorb/blocks.cpp new file mode 100644 index 000000000..448a42a99 --- /dev/null +++ b/src/modules/controllib/uorb/blocks.cpp @@ -0,0 +1,101 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 uorb_blocks.cpp + * + * uorb block library code + */ + +#include "blocks.hpp" + +namespace control +{ + +BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) : + SuperBlock(parent, name), + _xtYawLimit(this, "XT2YAW"), + _xt2Yaw(this, "XT2YAW"), + _psiCmd(0) +{ +} + +BlockWaypointGuidance::~BlockWaypointGuidance() {}; + +void BlockWaypointGuidance::update(vehicle_global_position_s &pos, + vehicle_attitude_s &att, + vehicle_global_position_setpoint_s &posCmd, + vehicle_global_position_setpoint_s &lastPosCmd) +{ + + // heading to waypoint + float psiTrack = get_bearing_to_next_waypoint( + (double)pos.lat / (double)1e7d, + (double)pos.lon / (double)1e7d, + (double)posCmd.lat / (double)1e7d, + (double)posCmd.lon / (double)1e7d); + + // cross track + struct crosstrack_error_s xtrackError; + get_distance_to_line(&xtrackError, + (double)pos.lat / (double)1e7d, + (double)pos.lon / (double)1e7d, + (double)lastPosCmd.lat / (double)1e7d, + (double)lastPosCmd.lon / (double)1e7d, + (double)posCmd.lat / (double)1e7d, + (double)posCmd.lon / (double)1e7d); + + _psiCmd = _wrap_2pi(psiTrack - + _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance))); +} + +BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) : + SuperBlock(parent, name), + // subscriptions + _att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20), + _attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20), + _ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20), + _pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20), + _posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20), + _manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20), + _status(&getSubscriptions(), ORB_ID(vehicle_status), 20), + _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz + // publications + _actuators(&getPublications(), ORB_ID(actuator_controls_0)) +{ +} + +BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {}; + +} // namespace control + |