mirror of https://github.com/ArduPilot/ardupilot
64 lines
2.5 KiB
C++
64 lines
2.5 KiB
C++
/*
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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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#include "AP_WindVane.h"
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#include "AP_WindVane_Backend.h"
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// base class constructor.
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AP_WindVane_Backend::AP_WindVane_Backend(AP_WindVane &frontend) :
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_frontend(frontend)
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{
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}
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// update speed to frontend
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void AP_WindVane_Backend::speed_update_frontend(float apparent_speed_in)
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{
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// apply low pass filter if enabled
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if (is_positive(_frontend._speed_filt_hz)) {
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_speed_filt.set_cutoff_frequency(_frontend._speed_filt_hz);
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_frontend._speed_apparent = _speed_filt.apply(apparent_speed_in, 0.02f);
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} else {
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_frontend._speed_apparent = apparent_speed_in;
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}
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}
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// update direction to frontend
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void AP_WindVane_Backend::direction_update_frontend(float apparent_angle_ef)
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{
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// apply low pass filter if enabled
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if (is_positive(_frontend._dir_filt_hz)) {
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_dir_sin_filt.set_cutoff_frequency(_frontend._dir_filt_hz);
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_dir_cos_filt.set_cutoff_frequency(_frontend._dir_filt_hz);
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// https://en.wikipedia.org/wiki/Mean_of_circular_quantities
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const float filtered_sin = _dir_sin_filt.apply(sinf(apparent_angle_ef), 0.05f);
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const float filtered_cos = _dir_cos_filt.apply(cosf(apparent_angle_ef), 0.05f);
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_frontend._direction_apparent_ef = wrap_PI(atan2f(filtered_sin, filtered_cos));
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} else {
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_frontend._direction_apparent_ef = wrap_PI(apparent_angle_ef);
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}
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// apply low pass filter for current tack, this is at a hard coded cutoff frequency
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const float tack_direction_apparent = _tack_filt.apply(wrap_PI(apparent_angle_ef - AP::ahrs().yaw), 0.05f);
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_frontend._current_tack = is_negative(tack_direction_apparent) ? _frontend.Sailboat_Tack::TACK_PORT : _frontend.Sailboat_Tack::TACK_STARBOARD;
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}
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// calibrate WindVane
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void AP_WindVane_Backend::calibrate()
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{
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gcs().send_text(MAV_SEVERITY_INFO, "WindVane: No cal required");
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_frontend._calibration.set_and_save(0);
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return;
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}
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