HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

Eigen Revision

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

autopilot.cpp

Committer:
osaka
Date:
2021-12-01
Revision:
137:240588882ae2
Parent:
131:45542fcc886f
Child:
139:b378528c05f2

File content as of revision 137:240588882ae2:

#include "global.hpp"
 
void level_flight()
{
    Vector3 vdot = calc_vdot();
    Matrix pihat = eskf.getPihat();
    Matrix vihat = eskf.getVihat();
    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
    autopilot.level();
    autopilot.keep_alt();
    autopilot.return_val(roll_obj, pitch_obj, dT_obj);
}
 
void point_guide()
{
    Vector3 vdot = calc_vdot();
    Matrix pihat = eskf.getPihat();
    Matrix vihat = eskf.getVihat();
    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
    autopilot.guide();
    autopilot.keep_alt();
    autopilot.return_val(roll_obj, pitch_obj, dT_obj);  
}
 
void turning()
{
    Vector3 vdot = calc_vdot();
    Matrix pihat = eskf.getPihat();
    Matrix vihat = eskf.getVihat();
    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
    autopilot.turn();
    autopilot.keep_alt();
    autopilot.return_val(roll_obj, pitch_obj, dT_obj);
}

void climb()
{
    Vector3 vdot = calc_vdot();
    Matrix pihat = eskf.getPihat();
    Matrix vihat = eskf.getVihat();
    autopilot.update_val(rpy, -palt, pihat, vihat, vdot);
    autopilot.level();
    autopilot.climb();
    autopilot.return_val(roll_obj, pitch_obj, dT_obj);
}

Vector3 calc_vdot()
{
    Matrix m_vdot = eskf.calcDynAcc(MatrixMath::Vector2mat(acc));
    Vector3 vdot(m_vdot(1, 1), m_vdot(2, 1), m_vdot(3, 1));
    return vdot;
}