ardupilot/libraries/AC_WPNav/AC_Circle.h

103 lines
4.7 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_InertialNav/AP_InertialNav.h> // Inertial Navigation library
#include <AC_AttitudeControl/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
#define AC_CIRCLE_ANGULAR_ACCEL_MIN 2.0f // angular acceleration should never be less than 2deg/sec
#define AC_CIRCLE_DEGX100 5729.57795f // constant to convert from radians to centi-degrees
class AC_Circle
{
public:
/// Constructor
AC_Circle(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosControl& pos_control);
/// init - initialise circle controller setting center specifically
/// caller should set the position controller's x,y and z speeds and accelerations before calling this
void init(const Vector3f& center);
/// init - initialise circle controller setting center using stopping point and projecting out based on the copter's heading
/// caller should set the position controller's x,y and z speeds and accelerations before calling this
void init();
/// set_circle_center in cm from home
void set_center(const Vector3f& center) { _center = center; }
/// get_circle_center in cm from home
const Vector3f& get_center() const { return _center; }
/// get_radius - returns radius of circle in cm
float get_radius() { return _radius; }
/// 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);
/// 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; }
// get_closest_point_on_circle - returns closest point on the circle
// circle's center should already have been set
// closest point on the circle will be placed in result
// result's altitude (i.e. z) will be set to the circle_center's altitude
// if vehicle is at the center of the circle, the edge directly behind vehicle will be returned
void get_closest_point_on_circle(Vector3f &result);
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
// init_velocity should be set true if vehicle is just starting circle
void calc_velocities(bool init_velocity);
// init_start_angle - sets the starting angle around the circle and initialises the angle_total
// if use_heading is true the vehicle's heading will be used to init the angle causing minimum yaw movement
// if use_heading is false the vehicle's position from the center will be used to initialise the angle
void init_start_angle(bool use_heading);
// flags structure
struct circle_flags {
uint8_t panorama : 1; // true if we are doing a panorama
} _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
};