Auto Smooth Vel - Add AutoMapper2 and AutoLineSmoothVel flight tasks

2026-10-18 20:03:33 +08:00 · 2018-11-06 22:17:00 +01:00
parent 67c0846068
commit 0209fa00bf
9 changed files with 645 additions and 1 deletions
@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file FlightTaskAutoLineSmoothVel.hpp
+ *
+ * Flight task for autonomous, gps driven mode. The vehicle flies
+ * along a straight line in between waypoints.
+ */
+
+#pragma once
+
+#include "FlightTaskAutoMapper2.hpp"
+#include "VelocitySmoothing.hpp"
+
+class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper2
+{
+public:
+	FlightTaskAutoLineSmoothVel() = default;
+	virtual ~FlightTaskAutoLineSmoothVel() = default;
+
+	bool activate() override;
+
+protected:
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper2,
+					(ParamFloat<px4::params::MIS_YAW_ERR>) MIS_YAW_ERR, // yaw-error threshold
+					(ParamFloat<px4::params::MPC_ACC_HOR>) MPC_ACC_HOR, // acceleration in flight
+					(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX,
+					(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX,
+					(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) MPC_ACC_HOR_MAX,
+					(ParamFloat<px4::params::MPC_JERK_MIN>) MPC_JERK_MIN
+				       );
+
+	void _generateSetpoints() override; /**< Generate setpoints along line. */
+	void _setDefaultConstraints() override;
+
+	inline float constrain_one_side(float val, float constrain);
+	void _generateHeadingAlongTrack(); /**< Generates heading along track. */
+	void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
+	void _generateTrajectory();
+	VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
+};