mirror of https://github.com/ArduPilot/ardupilot
144 lines
3.9 KiB
C++
144 lines
3.9 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
antenna-tracker simulator class
|
|
*/
|
|
|
|
#include "SIM_Tracker.h"
|
|
|
|
#include <stdio.h>
|
|
|
|
namespace SITL {
|
|
|
|
Tracker::Tracker(const char *home_str, const char *frame_str) :
|
|
Aircraft(home_str, frame_str)
|
|
{}
|
|
|
|
|
|
/*
|
|
update function for position (normal) servos.
|
|
*/
|
|
void Tracker::update_position_servos(float delta_time, float &yaw_rate, float &pitch_rate)
|
|
{
|
|
float pitch_target = pitch_input*pitch_range;
|
|
float yaw_target = yaw_input*yaw_range;
|
|
|
|
pitch_rate = constrain_float(pitch_target - pitch_current_relative, -pitchrate, pitchrate);
|
|
yaw_rate = constrain_float(yaw_target - yaw_current_relative, -yawrate, yawrate);
|
|
}
|
|
|
|
/*
|
|
update function for onoff servos.
|
|
These servos either move at a constant rate or are still
|
|
Returns (yaw_rate,pitch_rate) tuple
|
|
*/
|
|
void Tracker::update_onoff_servos(float &yaw_rate, float &pitch_rate)
|
|
{
|
|
if (fabsf(yaw_input) < 0.1) {
|
|
yaw_rate = 0;
|
|
} else if (yaw_input >= 0.1) {
|
|
yaw_rate = yawrate;
|
|
} else {
|
|
yaw_rate = -yawrate;
|
|
}
|
|
|
|
if (fabsf(pitch_input) < 0.1) {
|
|
pitch_rate = 0;
|
|
} else if (pitch_input >= 0.1) {
|
|
pitch_rate = pitchrate;
|
|
} else {
|
|
pitch_rate = -pitchrate;
|
|
}
|
|
}
|
|
|
|
/*
|
|
update state of tracker
|
|
*/
|
|
void Tracker::update(const struct sitl_input &input)
|
|
{
|
|
// how much time has passed?
|
|
float delta_time = frame_time_us * 1.0e-6f;
|
|
|
|
float yaw_rate = 0.0f, pitch_rate = 0.0f;
|
|
|
|
yaw_input = (input.servos[0]-1500)/500.0f;
|
|
pitch_input = (input.servos[1]-1500)/500.0f;
|
|
|
|
// implement yaw and pitch limits
|
|
float r, p, y;
|
|
dcm.to_euler(&r, &p, &y);
|
|
|
|
pitch_current_relative = degrees(p) - zero_pitch;
|
|
yaw_current_relative = degrees(y) - zero_yaw;
|
|
float roll_current = degrees(r);
|
|
if (yaw_current_relative > 180) {
|
|
yaw_current_relative -= 360;
|
|
}
|
|
if (yaw_current_relative < -180) {
|
|
yaw_current_relative += 360;
|
|
}
|
|
if (yaw_rate > 0 && yaw_current_relative >= yaw_range) {
|
|
yaw_rate = 0;
|
|
}
|
|
if (yaw_rate < 0 && yaw_current_relative <= -yaw_range) {
|
|
yaw_rate = 0;
|
|
}
|
|
if (pitch_rate > 0 && pitch_current_relative >= pitch_range) {
|
|
pitch_rate = 0;
|
|
}
|
|
if (pitch_rate < 0 && pitch_current_relative <= -pitch_range) {
|
|
pitch_rate = 0;
|
|
}
|
|
|
|
if (onoff) {
|
|
update_onoff_servos(yaw_rate, pitch_rate);
|
|
} else {
|
|
update_position_servos(delta_time, yaw_rate, pitch_rate);
|
|
}
|
|
|
|
|
|
// keep it level
|
|
float roll_rate = 0 - roll_current;
|
|
|
|
if (time_now_us - last_debug_us > 2e6f && !onoff) {
|
|
last_debug_us = time_now_us;
|
|
printf("roll=%.1f pitch=%.1f yaw=%.1f rates=%.1f/%.1f/%.1f in=%.3f,%.3f\n",
|
|
roll_current,
|
|
pitch_current_relative,
|
|
yaw_current_relative,
|
|
roll_rate, pitch_rate, yaw_rate,
|
|
yaw_input, pitch_input);
|
|
}
|
|
|
|
gyro = Vector3f(radians(roll_rate),radians(pitch_rate),radians(yaw_rate));
|
|
|
|
// update attitude
|
|
dcm.rotate(gyro * delta_time);
|
|
dcm.normalize();
|
|
|
|
Vector3f accel_earth = Vector3f(0, 0, -GRAVITY_MSS);
|
|
accel_body = dcm.transposed() * accel_earth;
|
|
|
|
// new velocity vector
|
|
velocity_ef.zero();
|
|
update_position();
|
|
time_advance();
|
|
|
|
// update magnetic field
|
|
update_mag_field_bf();
|
|
}
|
|
|
|
} // namespace SITL
|