ardupilot/libraries/AC_WPNav/AC_Circle.h

95 lines
3.8 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef AC_CIRCLE_H
#define AC_CIRCLE_H
#include <AP_Common.h>
#include <AP_Param.h>
#include <AP_Math.h>
#include <AC_PID.h> // PID library
#include <APM_PI.h> // PID library
#include <AP_InertialNav.h> // Inertial Navigation library
#include <AC_PosControl.h> // Position control library
// loiter maximum velocities and accelerations
#define AC_CIRCLE_RADIUS_DEFAULT 1000.0f // radius of the circle in cm that the vehicle will fly
#define AC_CIRCLE_RATE_DEFAULT 20.0f // turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise
class AC_Circle
{
public:
/// Constructor
AC_Circle(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosControl& pos_control);
/// set_circle_center in cm from home
void set_center(const Vector3f& position);
/// init_center in cm from home using stopping point and projecting out based on the copter's heading
void init_center();
/// get_circle_center in cm from home
const Vector3f& get_center() const { return _center; }
/// set_radius - sets circle radius in cm
void set_radius(float radius_cm) { _radius = radius_cm; };
/// set_circle_rate - set circle rate in degrees per second
void set_rate(float deg_per_sec) { _rate = deg_per_sec; }
/// get_angle_total - return total angle in radians that vehicle has circled
float get_angle_total() const { return _angle_total; }
/// update - update circle controller
void update();
/// get desired roll, pitch which should be fed into stabilize controllers
int32_t get_roll() const { return _pos_control.get_roll(); };
int32_t get_pitch() const { return _pos_control.get_pitch(); };
int32_t get_yaw() const { return _yaw; };
/// set_cos_sin_yaw - short-cut to save on calculations to convert from roll-pitch frame to lat-lon frame
void set_cos_sin_yaw(float cos_yaw, float sin_yaw) {
_cos_yaw = cos_yaw;
_sin_yaw = sin_yaw;
}
static const struct AP_Param::GroupInfo var_info[];
private:
// calc_velocities - calculate angular velocity max and acceleration based on radius and rate
// this should be called whenever the radius or rate are changed
// initialises the yaw and current position around the circle
void calc_velocities();
// flags structure
struct circle_flags {
uint8_t panorama : 1; // true if we are doing a panorama
uint8_t dir : 1; // 0 = clockwise, 1 = counter clockwise
} _flags;
// references to inertial nav and ahrs libraries
const AP_InertialNav& _inav;
const AP_AHRS& _ahrs;
AC_PosControl& _pos_control;
// parameters
AP_Float _radius; // maximum horizontal speed in cm/s during missions
AP_Float _rate; // rotation speed in deg/sec
// internal variables
uint32_t _last_update; // time of last update_loiter call
Vector3f _center; // center of circle in cm from home
float _yaw; // yaw heading (normally towards circle center)
float _angle; // current angular position around circle in radians (0=directly north of the center of the circle)
float _angle_total; // total angle travelled in radians
float _angular_vel; // angular velocity in radians/sec
float _angular_vel_max; // maximum velocity in radians/sec
float _angular_accel; // angular acceleration in radians/sec/sec
// helper variables
float _cos_yaw; // short-cut to save on calcs required to convert roll-pitch frame to lat-lon frame
float _sin_yaw; // To-Do: move these to ahrs or attitude control class to save on memory
};
#endif // AC_CIRCLE_H