Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen
Autopilot.hpp@14:7b6c3f8b85fb, 2021-12-01 (annotated)
- Committer:
- osaka
- Date:
- Wed Dec 01 11:51:21 2021 +0000
- Revision:
- 14:7b6c3f8b85fb
- Parent:
- 12:59e547742cd8
- Child:
- 15:28f480b41553
with path angle control
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 | 12:59e547742cd8 | 6 | #include "Matrix.h" |
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 | 14:7b6c3f8b85fb | 20 | float alt_before; |
osaka | 0:e9cdfc6579a7 | 21 | Vector3 pos_ned; |
osaka | 14:7b6c3f8b85fb | 22 | Vector3 pos_before; |
osaka | 6:1f5e6efff5b4 | 23 | Vector3 vel_ned; //対地速度 |
osaka | 14:7b6c3f8b85fb | 24 | Vector3 vel_before; |
osaka | 14:7b6c3f8b85fb | 25 | |
osaka | 14:7b6c3f8b85fb | 26 | //算出値 |
osaka | 14:7b6c3f8b85fb | 27 | float path_ang; //経路角 |
osaka | 14:7b6c3f8b85fb | 28 | Vector3 vdot; |
osaka | 0:e9cdfc6579a7 | 29 | |
osaka | 0:e9cdfc6579a7 | 30 | //目標値 |
osaka | 0:e9cdfc6579a7 | 31 | float roll_obj; |
osaka | 0:e9cdfc6579a7 | 32 | float pitch_obj; |
osaka | 0:e9cdfc6579a7 | 33 | float yaw_obj; |
osaka | 0:e9cdfc6579a7 | 34 | float alt_obj; |
osaka | 6:1f5e6efff5b4 | 35 | float vel_obj; //対地速度 |
osaka | 6:1f5e6efff5b4 | 36 | float dT_obj; |
osaka | 14:7b6c3f8b85fb | 37 | float path_obj; |
osaka | 14:7b6c3f8b85fb | 38 | float vdot_obj; |
osaka | 0:e9cdfc6579a7 | 39 | |
osaka | 0:e9cdfc6579a7 | 40 | Vector3 destination; //誘導地点NED座標 |
osaka | 0:e9cdfc6579a7 | 41 | Vector3 turn_center; //旋回中心NED座標 |
osaka | 0:e9cdfc6579a7 | 42 | float turn_r; //旋回半径 |
osaka | 0:e9cdfc6579a7 | 43 | |
osaka | 0:e9cdfc6579a7 | 44 | void limit_obj(); |
osaka | 6:1f5e6efff5b4 | 45 | 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 | 46 | float angdiff_pi(float rad); //角度を[-pi, pi]の範囲で出力 |
NaotoMorita | 11:51a0fedd7745 | 47 | float atan_angdiff(float a1,float a2); //atan2を用いた角度差計算 |
osaka | 0:e9cdfc6579a7 | 48 | float deg2rad(float deg); //degからradに変換 |
osaka | 14:7b6c3f8b85fb | 49 | float calc_path(); //経路角算出 |
osaka | 0:e9cdfc6579a7 | 50 | |
osaka | 0:e9cdfc6579a7 | 51 | public: |
osaka | 0:e9cdfc6579a7 | 52 | Autopilot(); |
osaka | 6:1f5e6efff5b4 | 53 | |
osaka | 6:1f5e6efff5b4 | 54 | void set_dest(float x, float y); //誘導地点の設定 |
osaka | 6:1f5e6efff5b4 | 55 | void set_turn(float x, float y, float r); //定点旋回の設定 |
osaka | 6:1f5e6efff5b4 | 56 | void set_alt(float alt, float vel); //高度,速度の設定 |
osaka | 14:7b6c3f8b85fb | 57 | void set_climb(float path_angle, float vdot); //経路角,加速度の設定 |
osaka | 0:e9cdfc6579a7 | 58 | |
osaka | 14:7b6c3f8b85fb | 59 | void update_val(const Vector3 rpy, const float altitude, const Matrix pos, const Matrix vel, const Vector3 v_dot); //姿勢角等の更新 |
osaka | 0:e9cdfc6579a7 | 60 | |
osaka | 0:e9cdfc6579a7 | 61 | void level(); //水平飛行 |
osaka | 0:e9cdfc6579a7 | 62 | void guide(); //定点誘導 |
osaka | 0:e9cdfc6579a7 | 63 | void turn(); //定点旋回(時計回り) |
osaka | 6:1f5e6efff5b4 | 64 | void keep_alt(); //高度,速度維持 |
osaka | 14:7b6c3f8b85fb | 65 | void climb(); //経路角一定 |
osaka | 0:e9cdfc6579a7 | 66 | |
osaka | 6:1f5e6efff5b4 | 67 | void return_val(float &r_obj, float &p_obj, float &t_obj); //目標値を代入 |
osaka | 1:73704460a8b4 | 68 | }; |
osaka | 0:e9cdfc6579a7 | 69 | |
osaka | 0:e9cdfc6579a7 | 70 | #endif |