source: flair-src/trunk/lib/FlairFilter/src/JoyReference_impl.cpp@ 148

Last change on this file since 148 was 148, checked in by Sanahuja Guillaume, 6 years ago

m

File size: 6.0 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2012/08/29
6// filename: JoyReference_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: generation de consignes a partir joystick
14//
15//
16/*********************************************************************/
17
18#include "JoyReference_impl.h"
19#include "JoyReference.h"
20#include <AhrsData.h>
21#include <Euler.h>
22#include <cvmatrix.h>
23#include <Layout.h>
24#include <GroupBox.h>
25#include <DoubleSpinBox.h>
26#include <SpinBox.h>
27#include <Label.h>
28#include <PushButton.h>
29#include <math.h>
30
31using std::string;
32using namespace flair::core;
33using namespace flair::gui;
34using namespace flair::filter;
35
36JoyReference_impl::JoyReference_impl(JoyReference *inSelf,
37 const LayoutPosition *position,
38 string name)
39 : self(inSelf) {
40
41 ahrsData = new AhrsData(self);
42 input = new cvmatrix(self, 4, 1, floatType, name);
43
44 cvmatrix_descriptor *desc = new cvmatrix_descriptor(4, 1);
45 desc->SetElementName(0, 0, "z");
46 ;
47 desc->SetElementName(1, 0, "dz");
48 desc->SetElementName(2, 0, "trim_roll");
49 desc->SetElementName(3, 0, "trim_pitch");
50 output = new cvmatrix(self, desc, floatType, name);
51 delete desc;
52
53 reglages_groupbox = new GroupBox(position, name);
54 deb_roll = new DoubleSpinBox(reglages_groupbox->NewRow(), "debattement roll",
55 " deg", -45, 45, 1, 0);
56 deb_pitch = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),
57 "debattement pitch", " deg", -45, 45, 1, 0);
58 deb_wz = new DoubleSpinBox(reglages_groupbox->NewRow(), "debattement wz",
59 " deg/s", -180, 180, 1, 0);
60 deb_dz = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),
61 "debattement dz", " m/s", -2, 2, 0.1, 1);
62 trim = new DoubleSpinBox(reglages_groupbox->NewRow(), "trim", -1, 1, 0.01);
63 label_roll = new Label(reglages_groupbox->NewRow(), "trim roll");
64 button_roll =
65 new PushButton(reglages_groupbox->LastRowLastCol(), "reset roll trim");
66 label_pitch = new Label(reglages_groupbox->NewRow(), "trim pitch");
67 button_pitch =
68 new PushButton(reglages_groupbox->LastRowLastCol(), "reset pitch trim");
69
70 z_ref = 0;
71 previous_time = 0;
72 trim_roll = 0;
73 trim_pitch = 0;
74
75 label_roll->SetText("trim roll: %.2f", trim_roll);
76 label_pitch->SetText("trim pitch: %.2f", trim_pitch);
77}
78
79JoyReference_impl::~JoyReference_impl(void) {}
80
81void JoyReference_impl::SetRollAxis(float value) {
82 input->SetValue(0, 0, value);
83}
84
85void JoyReference_impl::SetPitchAxis(float value) {
86 input->SetValue(1, 0, value);
87}
88
89void JoyReference_impl::SetYawAxis(float value) {
90 input->SetValue(2, 0, value);
91}
92
93void JoyReference_impl::SetAltitudeAxis(float value) {
94 input->SetValue(3, 0, value);
95}
96
97void JoyReference_impl::RollTrimUp(void) {
98 trim_roll += trim->Value();
99 output->SetValue(2, 0, trim_roll);
100 label_roll->SetText("trim roll: %.2f", trim_roll);
101}
102
103void JoyReference_impl::RollTrimDown(void) {
104 trim_roll -= trim->Value();
105 output->SetValue(2, 0, trim_roll);
106 label_roll->SetText("trim roll: %.2f", trim_roll);
107}
108
109void JoyReference_impl::PitchTrimUp(void) {
110 trim_pitch += trim->Value();
111 output->SetValue(3, 0, trim_pitch);
112 label_pitch->SetText("trim pitch: %.2f", trim_pitch);
113}
114
115void JoyReference_impl::PitchTrimDown(void) {
116 trim_pitch -= trim->Value();
117 output->SetValue(3, 0, trim_pitch);
118 label_pitch->SetText("trim pitch: %.2f", trim_pitch);
119}
120
121void JoyReference_impl::SetYawRef(float value) {
122 Euler ref(0, 0, value);
123 input->GetMutex();
124 ref.ToQuaternion(q_z);
125 input->ReleaseMutex();
126
127 Update(GetTime());
128}
129
130void JoyReference_impl::SetZRef(float value) {
131 z_ref = value;
132 output->SetValue(0, 0, z_ref);
133}
134
135float JoyReference_impl::ZRef(void) const { return output->Value(0, 0); }
136
137float JoyReference_impl::dZRef(void) const { return output->Value(1, 0); }
138
139float JoyReference_impl::RollTrim(void) const { return trim_roll; }
140
141float JoyReference_impl::PitchTrim(void) const { return trim_pitch; }
142
143void JoyReference_impl::Update(Time time) {
144 input->SetDataTime(time);
145 UpdateFrom(input);
146}
147
148void JoyReference_impl::UpdateFrom(const io_data *data) {
149 cvmatrix *input = (cvmatrix *)data;
150
151 if (previous_time == 0)
152 previous_time = data->DataTime(); // pour la premiere iteration
153 float delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
154 previous_time = data->DataTime();
155
156 if (button_roll->Clicked() == true) {
157 trim_roll = 0;
158 output->SetValue(2, 0, 0);
159 label_roll->SetText("trim roll: %.2f", trim_roll);
160 }
161 if (button_pitch->Clicked() == true) {
162 trim_pitch = 0;
163 output->SetValue(3, 0, 0);
164 label_pitch->SetText("trim pitch: %.2f", trim_pitch);
165 }
166
167 // les box sont en degrés
168 input->GetMutex();
169
170 Vector3D theta_xy(
171 -Euler::ToRadian(input->ValueNoMutex(0, 0) * deb_roll->Value()),
172 -Euler::ToRadian(input->ValueNoMutex(1, 0) * deb_pitch->Value()), 0);
173 Vector3D e_bar = theta_xy;
174 e_bar.Normalize();
175 Quaternion q_xy(cos(theta_xy.GetNorm() / 2.0f),
176 e_bar.x * sin(theta_xy.GetNorm() / 2.0f),
177 e_bar.y * sin(theta_xy.GetNorm() / 2.0f), 0);
178 q_xy.Normalize();
179
180 float wz_ref = Euler::ToRadian(input->ValueNoMutex(2, 0) * deb_wz->Value());
181 Quaternion w_zd(1, 0, 0, wz_ref * delta_t / 2);
182 w_zd.Normalize();
183 q_z = q_z * w_zd;
184 q_z.Normalize();
185
186 Quaternion q_ref = q_z * q_xy;
187 q_ref.Normalize();
188
189 z_ref += input->ValueNoMutex(3, 0) * deb_dz->Value() * delta_t;
190 float dz_ref = input->ValueNoMutex(3, 0) * deb_dz->Value();
191
192 input->ReleaseMutex();
193
194 ahrsData->SetQuaternionAndAngularRates(q_ref, Vector3D(0, 0, wz_ref));
195
196 // ouput quaternion for control law
197 output->GetMutex();
198 output->SetValueNoMutex(0, 0, z_ref);
199 output->SetValueNoMutex(1, 0, dz_ref);
200 output->ReleaseMutex();
201
202 output->SetDataTime(data->DataTime());
203}
Note: See TracBrowser for help on using the repository browser.