ardupilot/libraries/AP_Soaring/AP_Soaring.h

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/*
Soaring Controller class by Samuel Tabor
Provides a layer between the thermal centring algorithm and the main
code for managing navigation targets, data logging, tuning parameters,
algorithm inputs and eventually other soaring strategies such as
speed-to-fly. AP_TECS libary used for reference.
*/
#pragma once
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Param/AP_Param.h>
#include <DataFlash/DataFlash.h>
#include <AP_Math/AP_Math.h>
#include "ExtendedKalmanFilter.h"
#include "Variometer.h"
#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#define EXPECTED_THERMALLING_SINK 0.7
#define INITIAL_THERMAL_STRENGTH 2.0
#define INITIAL_THERMAL_RADIUS 30.0 //150.0
#define INITIAL_STRENGTH_COVARIANCE 0.0049
#define INITIAL_RADIUS_COVARIANCE 2500.0
#define INITIAL_POSITION_COVARIANCE 300.0
class SoaringController {
ExtendedKalmanFilter _ekf{};
AP_AHRS &_ahrs;
AP_SpdHgtControl &_spdHgt;
const AP_Vehicle::FixedWing &_aparm;
Variometer _vario;
// store aircraft location at last update
struct Location _prev_update_location;
// store time thermal was entered for hysteresis
unsigned long _thermal_start_time_us;
// store time cruise was entered for hysteresis
unsigned long _cruise_start_time_us;
// store time of last update
unsigned long _prev_update_time;
float _loiter_rad;
bool _throttle_suppressed;
float McCready(float alt);
void get_wind_corrected_drift(const Location *current_loc, const Vector3f *wind, float *wind_drift_x, float *wind_drift_y, float *dx, float *dy);
void get_altitude_wrt_home(float *alt);
protected:
AP_Int8 soar_active;
AP_Int8 soar_active_ch;
AP_Float thermal_vspeed;
AP_Float thermal_q1;
AP_Float thermal_q2;
AP_Float thermal_r;
AP_Float thermal_distance_ahead;
AP_Int16 min_thermal_s;
AP_Int16 min_cruise_s;
AP_Float polar_CD0;
AP_Float polar_B;
AP_Float polar_K;
AP_Float alt_max;
AP_Float alt_min;
AP_Float alt_cutoff;
public:
SoaringController(AP_AHRS &ahrs, AP_SpdHgtControl &spdHgt, const AP_Vehicle::FixedWing &parms);
// this supports the TECS_* user settable parameters
static const struct AP_Param::GroupInfo var_info[];
void get_target(Location & wp);
bool suppress_throttle();
bool check_thermal_criteria();
bool check_cruise_criteria();
bool check_init_thermal_criteria();
void init_thermalling();
void init_cruising();
void update_thermalling();
void update_cruising();
bool is_active() const;
bool get_throttle_suppressed() const
{
return _throttle_suppressed;
}
void set_throttle_suppressed(bool suppressed)
{
_throttle_suppressed = suppressed;
}
float get_vario_reading()
{
return _vario.displayed_reading;
}
void update_vario();
};