/* $Id: StabilizationTaskHandler.java 606 2010-11-02 19:52:33Z parizek $
*
* This file is a part of jPapaBench providing a Java implementation
* of PapaBench project.
* Copyright (C) 2010 Michal Malohlava <michal.malohlava_at_d3s.mff.cuni.cz>
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
*/
package papabench.core.autopilot.tasks.handlers;
import papabench.core.autopilot.modules.AutopilotModule;
import papabench.core.autopilot.tasks.pids.RollPitchPIDController;
import papabench.core.commons.conf.RadioConf;
import papabench.core.commons.data.InterMCUMsg;
import papabench.core.commons.data.RadioCommands;
import papabench.core.utils.LogUtils;
import papabench.core.utils.PPRZUtils;
/**
* Task handler responsible for stabilization of airplane according to navigation commands.
*
* f = ? Hz
*
* @author Michal Malohlava
*
*/
//@SCJAllowed
public class StabilizationTaskHandler implements Runnable {
private AutopilotModule autopilotModule;
private RollPitchPIDController pidController;
public StabilizationTaskHandler(AutopilotModule autopilotModule) {
this.autopilotModule = autopilotModule;
this.pidController = new RollPitchPIDController();
}
public void run() {
autopilotModule.getIRDevice().update();
autopilotModule.getEstimator().updateIRState();
pidController.control(autopilotModule, autopilotModule.getEstimator(), autopilotModule.getNavigator());
InterMCUMsg msg = new InterMCUMsg(true);
RadioCommands radioCommands = msg.radioCommands;
radioCommands.setPitch(autopilotModule.getElevator());
radioCommands.setRoll(autopilotModule.getAileron());
radioCommands.setThrottle(autopilotModule.getGaz());
radioCommands.setGain1((int) PPRZUtils.trimPPRZ(RadioConf.MAX_PPRZ/0.75f*(autopilotModule.getEstimator().getAttitude().phi)));
msg.setValid(true);
//LogUtils.log(this, "Sending msg: " + msg);
autopilotModule.getLinkToFBW().sendMessageToFBW(msg);
}
}