mirror of https://github.com/ArduPilot/ardupilot
101 lines
4.5 KiB
C++
101 lines
4.5 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_InertialNav/AP_InertialNav.h> // Inertial Navigation library
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#include <AC_AttitudeControl/AC_PosControl.h> // Position control library
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// loiter maximum velocities and accelerations
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#define AC_CIRCLE_RADIUS_DEFAULT 1000.0f // radius of the circle in cm that the vehicle will fly
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#define AC_CIRCLE_RATE_DEFAULT 20.0f // turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise
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#define AC_CIRCLE_ANGULAR_ACCEL_MIN 2.0f // angular acceleration should never be less than 2deg/sec
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#define AC_CIRCLE_DEGX100 5729.57795f // constant to convert from radians to centi-degrees
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class AC_Circle
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{
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public:
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/// Constructor
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AC_Circle(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosControl& pos_control);
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/// init - initialise circle controller setting center specifically
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/// caller should set the position controller's x,y and z speeds and accelerations before calling this
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void init(const Vector3f& center);
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/// init - initialise circle controller setting center using stopping point and projecting out based on the copter's heading
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/// caller should set the position controller's x,y and z speeds and accelerations before calling this
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void init();
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/// set_circle_center in cm from home
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void set_center(const Vector3f& center) { _center = center; }
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/// get_circle_center in cm from home
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const Vector3f& get_center() const { return _center; }
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/// get_radius - returns radius of circle in cm
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float get_radius() { return _radius; }
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/// set_radius - sets circle radius in cm
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void set_radius(float radius_cm) { _radius = radius_cm; }
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/// set_circle_rate - set circle rate in degrees per second
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void set_rate(float deg_per_sec);
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/// get_angle_total - return total angle in radians that vehicle has circled
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float get_angle_total() const { return _angle_total; }
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/// update - update circle controller
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void update();
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/// get desired roll, pitch which should be fed into stabilize controllers
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int32_t get_roll() const { return _pos_control.get_roll(); }
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int32_t get_pitch() const { return _pos_control.get_pitch(); }
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int32_t get_yaw() const { return _yaw; }
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// get_closest_point_on_circle - returns closest point on the circle
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// circle's center should already have been set
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// closest point on the circle will be placed in result
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// result's altitude (i.e. z) will be set to the circle_center's altitude
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// if vehicle is at the center of the circle, the edge directly behind vehicle will be returned
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void get_closest_point_on_circle(Vector3f &result);
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// calc_velocities - calculate angular velocity max and acceleration based on radius and rate
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// this should be called whenever the radius or rate are changed
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// initialises the yaw and current position around the circle
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// init_velocity should be set true if vehicle is just starting circle
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void calc_velocities(bool init_velocity);
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// init_start_angle - sets the starting angle around the circle and initialises the angle_total
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// if use_heading is true the vehicle's heading will be used to init the angle causing minimum yaw movement
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// if use_heading is false the vehicle's position from the center will be used to initialise the angle
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void init_start_angle(bool use_heading);
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// flags structure
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struct circle_flags {
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uint8_t panorama : 1; // true if we are doing a panorama
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} _flags;
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// references to inertial nav and ahrs libraries
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const AP_InertialNav& _inav;
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const AP_AHRS& _ahrs;
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AC_PosControl& _pos_control;
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// parameters
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AP_Float _radius; // maximum horizontal speed in cm/s during missions
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AP_Float _rate; // rotation speed in deg/sec
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// internal variables
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Vector3f _center; // center of circle in cm from home
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float _yaw; // yaw heading (normally towards circle center)
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float _angle; // current angular position around circle in radians (0=directly north of the center of the circle)
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float _angle_total; // total angle traveled in radians
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float _angular_vel; // angular velocity in radians/sec
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float _angular_vel_max; // maximum velocity in radians/sec
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float _angular_accel; // angular acceleration in radians/sec/sec
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};
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