Merge branch 'master' of github.com:PX4/Firmware into fw_autoland

5 files changed, 233 insertions, 1 deletions

diff --git a/src/lib/conversion/module.mk b/src/lib/conversion/module.mk
new file mode 100644
index 000000000..f5f59a2dc
--- /dev/null
+++ b/src/lib/conversion/module.mk
@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (C) 2013 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.
+#
+############################################################################
+
+#
+# Conversion library
+#
+
+SRCS		 = rotation.cpp
diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp
new file mode 100644
index 000000000..b078562c2
--- /dev/null
+++ b/src/lib/conversion/rotation.cpp
@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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 rotation.cpp
+ *
+ * Vector rotation library
+ */
+
+#include "math.h"
+#include "rotation.h"
+
+__EXPORT void
+get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix)
+{
+	/* first set to zero */
+	rot_matrix->Matrix::zero(3, 3);
+
+	float roll  = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
+	float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
+	float yaw   = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw;
+
+	math::EulerAngles euler(roll, pitch, yaw);
+
+	math::Dcm R(euler);
+
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 3; j++) {
+			(*rot_matrix)(i, j) = R(i, j);
+		}
+	}
+}
diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h
new file mode 100644
index 000000000..85c63c0fc
--- /dev/null
+++ b/src/lib/conversion/rotation.h
@@ -0,0 +1,121 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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 rotation.h
+ *
+ * Vector rotation library
+ */
+
+#ifndef ROTATION_H_
+#define ROTATION_H_
+
+#include <unistd.h>
+#include <mathlib/mathlib.h>
+
+/**
+ * Enum for board and external compass rotations.
+ * This enum maps from board attitude to airframe attitude.
+ */
+enum Rotation {
+	ROTATION_NONE                = 0,
+	ROTATION_YAW_45              = 1,
+	ROTATION_YAW_90              = 2,
+	ROTATION_YAW_135             = 3,
+	ROTATION_YAW_180             = 4,
+	ROTATION_YAW_225             = 5,
+	ROTATION_YAW_270             = 6,
+	ROTATION_YAW_315             = 7,
+	ROTATION_ROLL_180            = 8,
+	ROTATION_ROLL_180_YAW_45     = 9,
+	ROTATION_ROLL_180_YAW_90     = 10,
+	ROTATION_ROLL_180_YAW_135    = 11,
+	ROTATION_PITCH_180           = 12,
+	ROTATION_ROLL_180_YAW_225    = 13,
+	ROTATION_ROLL_180_YAW_270    = 14,
+	ROTATION_ROLL_180_YAW_315    = 15,
+	ROTATION_ROLL_90             = 16,
+	ROTATION_ROLL_90_YAW_45      = 17,
+	ROTATION_ROLL_90_YAW_90      = 18,
+	ROTATION_ROLL_90_YAW_135     = 19,
+	ROTATION_ROLL_270            = 20,
+	ROTATION_ROLL_270_YAW_45     = 21,
+	ROTATION_ROLL_270_YAW_90     = 22,
+	ROTATION_ROLL_270_YAW_135    = 23,
+	ROTATION_PITCH_90            = 24,
+	ROTATION_PITCH_270           = 25,
+	ROTATION_MAX
+};
+
+typedef struct {
+	uint16_t roll;
+	uint16_t pitch;
+	uint16_t yaw;
+} rot_lookup_t;
+
+const rot_lookup_t rot_lookup[] = {
+	{  0,   0,   0 },
+	{  0,   0,  45 },
+	{  0,   0,  90 },
+	{  0,   0, 135 },
+	{  0,   0, 180 },
+	{  0,   0, 225 },
+	{  0,   0, 270 },
+	{  0,   0, 315 },
+	{180,   0,   0 },
+	{180,   0,  45 },
+	{180,   0,  90 },
+	{180,   0, 135 },
+	{  0, 180,   0 },
+	{180,   0, 225 },
+	{180,   0, 270 },
+	{180,   0, 315 },
+	{ 90,   0,   0 },
+	{ 90,   0,  45 },
+	{ 90,   0,  90 },
+	{ 90,   0, 135 },
+	{270,   0,   0 },
+	{270,   0,  45 },
+	{270,   0,  90 },
+	{270,   0, 135 },
+	{  0,  90,   0 },
+	{  0, 270,   0 }
+};
+
+/**
+ * Get the rotation matrix
+ */
+__EXPORT void
+get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix);
+
+#endif /* ROTATION_H_ */
diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp
index daf136d49..196ded26c 100644
--- a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp
+++ b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp
@@ -43,7 +43,7 @@
 float ECL_L1_Pos_Controller::nav_roll()
 {
 	float ret = atanf(_lateral_accel * 1.0f / CONSTANTS_ONE_G);
-	ret = math::constrain(ret, (-M_PI_F) / 2.0f, M_PI_F / 2.0f);
+	ret = math::constrain(ret, -_roll_lim_rad, _roll_lim_rad);
 	return ret;
 }
 
diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.h b/src/lib/ecl/l1/ecl_l1_pos_controller.h
index 5a17346cb..7a3c42a92 100644
--- a/src/lib/ecl/l1/ecl_l1_pos_controller.h
+++ b/src/lib/ecl/l1/ecl_l1_pos_controller.h
@@ -222,6 +222,15 @@ public:
 		_K_L1 = 4.0f * _L1_damping * _L1_damping;
 	}
 
+
+	/**
+	 * Set the maximum roll angle output in radians
+	 *
+	 */
+	void set_l1_roll_limit(float roll_lim_rad) {
+		_roll_lim_rad = roll_lim_rad;
+	}
+
 private:
 
 	float _lateral_accel;		///< Lateral acceleration setpoint in m/s^2
@@ -238,6 +247,8 @@ private:
 	float _K_L1;			///< L1 control gain for _L1_damping
 	float _heading_omega;		///< Normalized frequency
 
+	float _roll_lim_rad;  ///<maximum roll angle
+
 	/**
 	 * Convert a 2D vector from WGS84 to planar coordinates.
 	 *