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FlightTaaskManual: finalized full acceleration manual controlled position flight to work properly

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This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 4d05193ad7
commit 018581faca
2 changed files with 21 additions and 21 deletions
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src/lib/FlightTasks/tasks/FlightTask.hpp
+5 -10
View File
@@ -81,8 +81,7 @@ public:
_last_time_stamp = hrt_absolute_time();
updateSubscriptions();
_evaluate_sticks();
_evaluate_position();
_evaluate_velocity();
_evaluate_vehicle_position();
return 0;
};
@@ -114,6 +113,7 @@ protected:
matrix::Vector<float, 4> _sticks;
matrix::Vector3f _position;
matrix::Vector3f _velocity;
float _yaw;
/**
* Put the position vector produced by the task into the setpoint message
@@ -169,20 +169,15 @@ private:
/* General output that every task has */
vehicle_local_position_setpoint_s *_vehicle_position_setpoint;
void _evaluate_position()
void _evaluate_vehicle_position()
{
if (_vehicle_position != nullptr && hrt_elapsed_time(&_vehicle_position->timestamp) < _timeout) {
_position = matrix::Vector3f(&_vehicle_position->x);
}
}
void _evaluate_velocity()
{
if (_vehicle_position != nullptr && hrt_elapsed_time(&_vehicle_position->timestamp) < _timeout) {
_velocity = matrix::Vector3f(&_vehicle_position->vx);
_yaw = _vehicle_position->yaw;
} else {
_velocity = matrix::Vector3f(); /* default is all zero */
_velocity = matrix::Vector3f(); /* default velocity is all zero */
}
}
src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+16 -11
View File
@@ -55,6 +55,8 @@ public:
_velocity_hor_manual(parent, "MPC_VEL_MANUAL", false),
_z_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
_z_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
_hold_max_xy(parent, "MPC_HOLD_MAX_XY", false),
_hold_max_z(parent, "MPC_HOLD_MAX_Z", false),
_sub_control_state(ORB_ID(control_state), 0, 0, &getSubscriptions())
{};
virtual ~FlightTaskManual() {};
@@ -94,11 +96,11 @@ public:
sick_xy(1) = math::expo_deadzone(_sticks(1), _xy_vel_man_expo.get(), _hold_dz.get());
float stick_z = -math::expo_deadzone(_sticks(2), _z_vel_man_expo.get(), _hold_dz.get());
const float stick_xy_length = sick_xy.length();
const float stick_xy_norm = sick_xy.norm();
/* saturate such that magnitude in xy is never larger than 1 */
if (stick_xy_length > 1.0f) {
sick_xy /= stick_xy_length;
if (stick_xy_norm > 1.0f) {
sick_xy /= stick_xy_norm;
}
/* rotate stick input to produce velocity setpoint in NED frame */
@@ -116,9 +118,14 @@ public:
//velocity_setpoint.print();
/* handle position and altitude hold */
const bool stick_xy_zero = stick_xy_length <= FLT_EPSILON;
const bool stick_xy_zero = stick_xy_norm <= FLT_EPSILON;
const bool stick_z_zero = fabsf(stick_z) <= FLT_EPSILON;
if (stick_xy_zero && !PX4_ISFINITE(_hold_position(0))) {
float velocity_xy_norm = matrix::Vector2f(_velocity._data).norm();
const bool stopped_xy = (_hold_max_xy.get() < FLT_EPSILON || velocity_xy_norm < _hold_max_xy.get());
const bool stopped_z = (_hold_max_z.get() < FLT_EPSILON || fabsf(_velocity(2)) < _hold_max_z.get());
if (stick_xy_zero && stopped_xy && !PX4_ISFINITE(_hold_position(0))) {
_hold_position(0) = _position(0);
_hold_position(1) = _position(1);
@@ -127,9 +134,7 @@ public:
_hold_position(1) = NAN;
}
const bool stick_z_zero = fabsf(stick_z) <= FLT_EPSILON;
if (stick_z_zero && !PX4_ISFINITE(_hold_position(2))) {
if (stick_z_zero && stopped_z && !PX4_ISFINITE(_hold_position(2))) {
_hold_position(2) = _position(2);
} else if (!stick_z_zero) {
@@ -144,9 +149,7 @@ public:
protected:
float get_input_frame_yaw()
{
matrix::Quatf q(&_sub_control_state.get().q[0]);
matrix::Eulerf euler_angles(q);
return euler_angles(2);
return _yaw;
};
private:
@@ -156,6 +159,8 @@ private:
control::BlockParamFloat _velocity_hor_manual; /**< target velocity in manual controlled mode at full speed */
control::BlockParamFloat _z_vel_max_up; /**< maximal vertical velocity when flying upwards with the stick */
control::BlockParamFloat _z_vel_max_down; /**< maximal vertical velocity when flying downwards with the stick */
control::BlockParamFloat _hold_max_xy; /**< velocity threshold to switch into horizontal position hold */
control::BlockParamFloat _hold_max_z; /**< velocity threshold to switch into vertical position hold */
uORB::Subscription<control_state_s> _sub_control_state;