Mirrors_Framework/PX4-Autopilot
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Segway stabilized.

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This commit is contained in:
James Goppert
2013-07-28 22:27:05 -04:00
parent 1980d9dd63
commit dc542b2a48
11 changed files with 138 additions and 165 deletions
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src/modules/fixedwing_backside/fixedwing.cpp
-37
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@@ -86,43 +86,6 @@ void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
_yawDamper.update(rCmd, r, outputScale);
}
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_xtYawLimit(this, "XT2YAW"),
_xt2Yaw(this, "XT2YAW"),
_psiCmd(0)
{
}
BlockWaypointGuidance::~BlockWaypointGuidance() {};
void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
vehicle_attitude_s &att,
vehicle_global_position_setpoint_s &posCmd,
vehicle_global_position_setpoint_s &lastPosCmd)
{
// heading to waypoint
float psiTrack = get_bearing_to_next_waypoint(
(double)pos.lat / (double)1e7d,
(double)pos.lon / (double)1e7d,
(double)posCmd.lat / (double)1e7d,
(double)posCmd.lon / (double)1e7d);
// cross track
struct crosstrack_error_s xtrackError;
get_distance_to_line(&xtrackError,
(double)pos.lat / (double)1e7d,
(double)pos.lon / (double)1e7d,
(double)lastPosCmd.lat / (double)1e7d,
(double)lastPosCmd.lon / (double)1e7d,
(double)posCmd.lat / (double)1e7d,
(double)posCmd.lon / (double)1e7d);
_psiCmd = _wrap_2pi(psiTrack -
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
}
BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
BlockUorbEnabledAutopilot(parent, name),
_stabilization(this, ""), // no name needed, already unique