From 5c33aeeb430a984d0802f1af73063afca793a98a Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 25 Dec 2013 02:16:52 +0100 Subject: move landing slope calculations into own class --- src/modules/fw_pos_control_l1/landingslope.cpp | 78 ++++++++++++++++++++++++++ 1 file changed, 78 insertions(+) create mode 100644 src/modules/fw_pos_control_l1/landingslope.cpp (limited to 'src/modules/fw_pos_control_l1/landingslope.cpp') diff --git a/src/modules/fw_pos_control_l1/landingslope.cpp b/src/modules/fw_pos_control_l1/landingslope.cpp new file mode 100644 index 000000000..ecf51b740 --- /dev/null +++ b/src/modules/fw_pos_control_l1/landingslope.cpp @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * @author Thomas Gubler + * @author Julian Oes + * + * 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.cpp + * + * @author: Thomas Gubler + */ + +#include "landingslope.h" + +#include +#include +#include +#include +#include + +void Landingslope::update(float landing_slope_angle_rad, + float flare_relative_alt, + float motor_lim_horizontal_distance, + float H1_virt) +{ + + _landing_slope_angle_rad = landing_slope_angle_rad; + _flare_relative_alt = flare_relative_alt; + _motor_lim_horizontal_distance = motor_lim_horizontal_distance; + _H1_virt = H1_virt; + + calculateSlopeValues(); +} + +void Landingslope::calculateSlopeValues() +{ + _H0 = _flare_relative_alt + _H1_virt; + _d1 = _flare_relative_alt/tanf(_landing_slope_angle_rad); + _flare_constant = (_H0 * _d1)/_flare_relative_alt; + _flare_length = - logf(_H1_virt/_H0) * _flare_constant; + _horizontal_slope_displacement = (_flare_length - _d1); +} + +float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude) +{ + return (wp_distance - _horizontal_slope_displacement) * tanf(_landing_slope_angle_rad) + wp_altitude; //flare_relative_alt is negative +} + -- cgit v1.2.3