WeatherVane.hpp

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#pragma once

#include <px4_module_params.h>
#include <matrix/matrix/math.hpp>

class WeatherVane : public ModuleParams
{
public:
    WeatherVane();

    ~WeatherVane() = default;

    void activate() {_is_active = true;}

    void deactivate() {_is_active = false;}

    bool is_active() {return _is_active;}

    bool weathervane_enabled() { return _param_wv_en.get(); }

    void update(const matrix::Quatf &q_sp_prev, float yaw);

    float get_weathervane_yawrate();

    void update_parameters() { ModuleParams::updateParams(); }

private:
    matrix::Dcmf _R_sp_prev;    // previous attitude setpoint rotation matrix
    float _yaw = 0.0f;          // current yaw angle

    bool _is_active = true;

    DEFINE_PARAMETERS(
        (ParamBool<px4::params::WV_EN>) _param_wv_en,
        (ParamFloat<px4::params::WV_ROLL_MIN>) _param_wv_roll_min,
        (ParamFloat<px4::params::WV_GAIN>) _param_wv_gain,
        (ParamFloat<px4::params::WV_YRATE_MAX>) _param_wv_yrate_max
    )

};