move landing slope calculations into own class

1 files changed, 86 insertions, 0 deletions

diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h
new file mode 100644
index 000000000..f855b796f
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/landingslope.h
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *
+ * 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: landingslope.h
+ *
+ * @author: Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef LANDINGSLOPE_H_
+#define LANDINGSLOPE_H_
+
+class Landingslope
+{
+private:
+	float _landing_slope_angle_rad;
+	float _flare_relative_alt;
+	float _motor_lim_horizontal_distance;
+	float _H1_virt;
+	float _H0;
+	float _d1;
+	float _flare_constant;
+	float _flare_length;
+	float _horizontal_slope_displacement;
+
+	void calculateSlopeValues();
+
+public:
+	Landingslope() {}
+	~Landingslope() {}
+
+	float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude);
+
+	void update(float landing_slope_angle_rad,
+			float flare_relative_alt,
+			float motor_lim_horizontal_distance,
+			float H1_virt);
+
+
+	inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;}
+	inline float flare_relative_alt() {return _flare_relative_alt;}
+	inline float motor_lim_horizontal_distance() {return _motor_lim_horizontal_distance;}
+	inline float H1_virt() {return _H1_virt;}
+	inline float H0() {return _H0;}
+	inline float d1() {return _d1;}
+	inline float flare_constant() {return _flare_constant;}
+	inline float flare_length() {return _flare_length;}
+	inline float horizontal_slope_displacement() {return _horizontal_slope_displacement;}
+
+};
+
+
+#endif /* LANDINGSLOPE_H_ */