mirror of https://github.com/ArduPilot/ardupilot
97 lines
2.7 KiB
C
97 lines
2.7 KiB
C
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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gimbal simulator class
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*/
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#pragma once
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#include "SIM_config.h"
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#if AP_SIM_GIMBAL_ENABLED
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#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS.h>
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namespace SITL {
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class Gimbal {
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public:
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void update(const class Aircraft &aircraft);
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void set_demanded_rates(const Vector3f &rates) {
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demanded_angular_rate = rates;
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}
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void get_deltas(Vector3f &_delta_angle, Vector3f &_delta_velocity, uint32_t &_delta_time_us);
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void get_joint_angles(Vector3f &_angles) { _angles = joint_angles; }
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private:
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// rotation matrix (gimbal body -> earth)
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Matrix3f dcm;
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bool init_done;
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// time of last update
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uint32_t last_update_us;
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// true angular rate of gimbal in body frame (rad/s)
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Vector3f gimbal_angular_rate;
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// observed angular rate (including biases)
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Vector3f gyro;
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/* joint angles, in radians. in yaw/roll/pitch order. Relative to fwd.
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So 0,0,0 points forward.
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Pi/2,0,0 means pointing right
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0, Pi/2, 0 means pointing fwd, but rolled 90 degrees to right
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0, 0, -Pi/2, means pointing down
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*/
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Vector3f joint_angles;
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// physical constraints on joint angles in (roll, pitch, azimuth) order
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Vector3f lower_joint_limits{radians(-40), radians(-135), radians(-7.5)};
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Vector3f upper_joint_limits{radians(40), radians(45), radians(7.5)};
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const float travelLimitGain = 20;
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// true gyro bias
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Vector3f true_gyro_bias;
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// time since delta angles/velocities returned
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uint32_t delta_start_us;
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// integral of gyro vector over last time interval. In radians
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Vector3f delta_angle;
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// integral of accel vector over last time interval. In m/s
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Vector3f delta_velocity;
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/*
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control variables from the vehicle
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*/
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// angular rate in rad/s. In body frame of gimbal
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Vector3f demanded_angular_rate;
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// gyro bias provided by EKF on vehicle. In rad/s.
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// Should be subtracted from the gyro readings to get true body
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// rotatation rates
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// Vector3f supplied_gyro_bias;
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};
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} // namespace SITL
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#endif // AP_SIM_GIMBAL_ENABLED
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