Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen
Autopilot.hpp@6:1f5e6efff5b4, 2021-11-19 (annotated)
- Committer:
- osaka
- Date:
- Fri Nov 19 05:18:37 2021 +0000
- Revision:
- 6:1f5e6efff5b4
- Parent:
- 3:46d4a32011fc
- Child:
- 8:7f3ff375fd30
- Child:
- 11:51a0fedd7745
keep altitude and velocity
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
osaka | 0:e9cdfc6579a7 | 1 | #ifndef __AUTOPILOT_HPP__ |
osaka | 0:e9cdfc6579a7 | 2 | #define __AUTOPILOT_HPP__ |
osaka | 0:e9cdfc6579a7 | 3 | |
osaka | 0:e9cdfc6579a7 | 4 | #include "mbed.h" |
osaka | 0:e9cdfc6579a7 | 5 | #include "Vector3.hpp" |
osaka | 0:e9cdfc6579a7 | 6 | #include <vector> |
osaka | 0:e9cdfc6579a7 | 7 | #include <cmath> |
osaka | 0:e9cdfc6579a7 | 8 | |
osaka | 1:73704460a8b4 | 9 | #define M_PI 3.141592f |
osaka | 6:1f5e6efff5b4 | 10 | #define G 9.8f |
osaka | 0:e9cdfc6579a7 | 11 | |
osaka | 0:e9cdfc6579a7 | 12 | class Autopilot |
osaka | 0:e9cdfc6579a7 | 13 | { |
osaka | 0:e9cdfc6579a7 | 14 | private: |
osaka | 0:e9cdfc6579a7 | 15 | //観測値 |
osaka | 0:e9cdfc6579a7 | 16 | float roll; |
osaka | 0:e9cdfc6579a7 | 17 | float pitch; |
osaka | 0:e9cdfc6579a7 | 18 | float yaw; |
osaka | 0:e9cdfc6579a7 | 19 | float alt; |
osaka | 0:e9cdfc6579a7 | 20 | Vector3 pos_ned; |
osaka | 6:1f5e6efff5b4 | 21 | Vector3 vel_ned; //対地速度 |
osaka | 0:e9cdfc6579a7 | 22 | |
osaka | 0:e9cdfc6579a7 | 23 | //目標値 |
osaka | 0:e9cdfc6579a7 | 24 | float roll_obj; |
osaka | 0:e9cdfc6579a7 | 25 | float pitch_obj; |
osaka | 0:e9cdfc6579a7 | 26 | float yaw_obj; |
osaka | 0:e9cdfc6579a7 | 27 | float alt_obj; |
osaka | 6:1f5e6efff5b4 | 28 | float vel_obj; //対地速度 |
osaka | 6:1f5e6efff5b4 | 29 | float dT_obj; |
osaka | 0:e9cdfc6579a7 | 30 | |
osaka | 0:e9cdfc6579a7 | 31 | Vector3 destination; //誘導地点NED座標 |
osaka | 0:e9cdfc6579a7 | 32 | Vector3 turn_center; //旋回中心NED座標 |
osaka | 0:e9cdfc6579a7 | 33 | float turn_r; //旋回半径 |
osaka | 0:e9cdfc6579a7 | 34 | |
osaka | 0:e9cdfc6579a7 | 35 | void limit_obj(); |
osaka | 6:1f5e6efff5b4 | 36 | float p_control(float diff, float kp); //比例制御(diff:目標値-現在値, kp:比例ゲイン) |
osaka | 6:1f5e6efff5b4 | 37 | float angdiff_pi(float rad); //角度を[-pi, pi]の範囲で出力 |
osaka | 0:e9cdfc6579a7 | 38 | float deg2rad(float deg); //degからradに変換 |
osaka | 0:e9cdfc6579a7 | 39 | |
osaka | 0:e9cdfc6579a7 | 40 | public: |
osaka | 0:e9cdfc6579a7 | 41 | Autopilot(); |
osaka | 6:1f5e6efff5b4 | 42 | |
osaka | 6:1f5e6efff5b4 | 43 | void set_dest(float x, float y); //誘導地点の設定 |
osaka | 6:1f5e6efff5b4 | 44 | void set_turn(float x, float y, float r); //定点旋回の設定 |
osaka | 6:1f5e6efff5b4 | 45 | void set_alt(float alt, float vel); //高度,速度の設定 |
osaka | 0:e9cdfc6579a7 | 46 | |
osaka | 6:1f5e6efff5b4 | 47 | void update_val(const Vector3 rpy, const float altitude, const Vector3 pos, const Vector3 vel); //姿勢角等の更新 |
osaka | 0:e9cdfc6579a7 | 48 | |
osaka | 0:e9cdfc6579a7 | 49 | void level(); //水平飛行 |
osaka | 0:e9cdfc6579a7 | 50 | void guide(); //定点誘導 |
osaka | 0:e9cdfc6579a7 | 51 | void turn(); //定点旋回(時計回り) |
osaka | 6:1f5e6efff5b4 | 52 | void keep_alt(); //高度,速度維持 |
osaka | 0:e9cdfc6579a7 | 53 | |
osaka | 6:1f5e6efff5b4 | 54 | void return_val(float &r_obj, float &p_obj, float &t_obj); //目標値を代入 |
osaka | 1:73704460a8b4 | 55 | }; |
osaka | 0:e9cdfc6579a7 | 56 | |
osaka | 0:e9cdfc6579a7 | 57 | #endif |