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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,106 @@ | ||
| /**************************************************************************** | ||
| * | ||
| * Copyright (c) 2024 PX4 Development Team. All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * 1. Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * 2. Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in | ||
| * the documentation and/or other materials provided with the | ||
| * distribution. | ||
| * 3. Neither the name PX4 nor the names of its contributors may be | ||
| * used to endorse or promote products derived from this software | ||
| * without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
| * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
| * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| ****************************************************************************/ | ||
|
|
||
| #include "FwTrim.hpp" | ||
|
|
||
| #include <mathlib/mathlib.h> | ||
|
|
||
| using namespace time_literals; | ||
| using matrix::Vector3f; | ||
| using math::interpolate; | ||
|
|
||
| FwTrim::FwTrim(ModuleParams *parent) : | ||
| ModuleParams(parent) | ||
| { | ||
| updateParams(); | ||
| _airspeed = _param_fw_airspd_trim.get(); | ||
| } | ||
|
|
||
| void FwTrim::updateParams() | ||
| { | ||
| ModuleParams::updateParams(); | ||
| updateParameterizedTrim(); | ||
| } | ||
|
|
||
| void FwTrim::reset() | ||
| { | ||
| _auto_trim.reset(); | ||
| } | ||
|
|
||
| void FwTrim::updateAutoTrim(const Vector3f &torque_sp, const float dt) | ||
| { | ||
| _auto_trim.update(torque_sp - _parameterized_trim, dt); | ||
| } | ||
|
|
||
| void FwTrim::setAirspeed(const float airspeed) | ||
| { | ||
| _airspeed = airspeed; | ||
| updateParameterizedTrim(); | ||
| } | ||
|
|
||
| void FwTrim::updateParameterizedTrim() | ||
| { | ||
| /* bi-linear interpolation over airspeed for actuator trim scheduling */ | ||
| Vector3f trim(_param_trim_roll.get(), _param_trim_pitch.get(), _param_trim_yaw.get()); | ||
|
|
||
| if (_airspeed < _param_fw_airspd_trim.get()) { | ||
| trim(0) += interpolate(_airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), | ||
| _param_fw_dtrim_r_vmin.get(), | ||
| 0.0f); | ||
| trim(1) += interpolate(_airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), | ||
| _param_fw_dtrim_p_vmin.get(), | ||
| 0.0f); | ||
| trim(2) += interpolate(_airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), | ||
| _param_fw_dtrim_y_vmin.get(), | ||
| 0.0f); | ||
|
|
||
| } else { | ||
| trim(0) += interpolate(_airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f, | ||
| _param_fw_dtrim_r_vmax.get()); | ||
| trim(1) += interpolate(_airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f, | ||
| _param_fw_dtrim_p_vmax.get()); | ||
| trim(2) += interpolate(_airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f, | ||
| _param_fw_dtrim_y_vmax.get()); | ||
| } | ||
|
|
||
| _parameterized_trim = trim; | ||
| } | ||
|
|
||
| int FwTrim::print_status() | ||
| { | ||
| Vector3f trim = getTrim(); | ||
| printf("Trim = (%.3f, %.3f, %.3f)\n", (double)trim(0), (double)trim(1), (double)trim(2)); | ||
|
|
||
| _auto_trim.print_status(); | ||
| return 0; | ||
| } |
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