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63 lines
2.5 KiB
63 lines
2.5 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "AP_WindVane.h" |
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#include "AP_WindVane_Backend.h" |
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// base class constructor. |
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AP_WindVane_Backend::AP_WindVane_Backend(AP_WindVane &frontend) : |
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_frontend(frontend) |
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{ |
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} |
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// update speed to frontend |
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void AP_WindVane_Backend::speed_update_frontend(float apparent_speed_in) |
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{ |
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// apply low pass filter if enabled |
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if (is_positive(_frontend._speed_filt_hz)) { |
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_speed_filt.set_cutoff_frequency(_frontend._speed_filt_hz); |
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_frontend._speed_apparent = _speed_filt.apply(apparent_speed_in, 0.02f); |
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} else { |
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_frontend._speed_apparent = apparent_speed_in; |
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} |
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} |
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// update direction to frontend |
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void AP_WindVane_Backend::direction_update_frontend(float apparent_angle_ef) |
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{ |
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// apply low pass filter if enabled |
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if (is_positive(_frontend._dir_filt_hz)) { |
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_dir_sin_filt.set_cutoff_frequency(_frontend._dir_filt_hz); |
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_dir_cos_filt.set_cutoff_frequency(_frontend._dir_filt_hz); |
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// https://en.wikipedia.org/wiki/Mean_of_circular_quantities |
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const float filtered_sin = _dir_sin_filt.apply(sinf(apparent_angle_ef), 0.05f); |
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const float filtered_cos = _dir_cos_filt.apply(cosf(apparent_angle_ef), 0.05f); |
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_frontend._direction_apparent_ef = wrap_PI(atan2f(filtered_sin, filtered_cos)); |
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} else { |
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_frontend._direction_apparent_ef = wrap_PI(apparent_angle_ef); |
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} |
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// apply low pass filter for current tack, this is at a hard coded cutoff frequency |
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const float tack_direction_apparent = _tack_filt.apply(wrap_PI(apparent_angle_ef - AP::ahrs().yaw), 0.05f); |
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_frontend._current_tack = is_negative(tack_direction_apparent) ? _frontend.Sailboat_Tack::TACK_PORT : _frontend.Sailboat_Tack::TACK_STARBOARD; |
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} |
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// calibrate WindVane |
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void AP_WindVane_Backend::calibrate() |
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{ |
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gcs().send_text(MAV_SEVERITY_INFO, "WindVane: No cal required"); |
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_frontend._calibration.set_and_save(0); |
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return; |
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}
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