Add acceleration stick mapping for position mode

src/lib/slew_rate/CMakeLists.txt

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+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+px4_add_library(SlewRate
+	dummy.cpp
+)
+target_include_directories(SlewRate
+	PUBLIC
+	${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_link_libraries(SlewRate PUBLIC mathlib)
+
+px4_add_unit_gtest(SRC SlewRateTest.cpp LINKLIBS SlewRate)

src/lib/slew_rate/SlewRate.hpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 SlewRate.hpp
+ *
+ * Library limit the rate of change of a value with a maximum slew rate.
+ *
+ * @author Matthias Grob <maetugr@gmail.com>
+ */
+
+#pragma once
+
+#include <mathlib/mathlib.h>
+#include <matrix/math.hpp>
+
+template<typename Type>
+class SlewRate
+{
+public:
+	SlewRate() = default;
+	~SlewRate() = default;
+
+	/**
+	 * Set maximum rate of change for the value
+	 * @param slew_rate maximum rate of change
+	 */
+	void setSlewRate(const Type slew_rate) { _slew_rate = slew_rate; }
+
+	/**
+	 * Set value ignoring slew rate for initialization purpose
+	 * @param value new applied value
+	 */
+	void setForcedValue(const Type value) { _value = value; }
+
+	/**
+	 * Update slewrate
+	 * @param new_value desired new value
+	 * @param deltatime time in seconds since last update
+	 * @return actual value that complies with the slew rate
+	 */
+	Type update(const Type new_value, const float deltatime)
+	{
+		// Limit the rate of change of the value
+		const Type dvalue_desired = new_value - _value;
+		const Type dvalue_max = _slew_rate * deltatime;
+		const Type dvalue = math::constrain(dvalue_desired, -dvalue_max, dvalue_max);
+		_value += dvalue;
+		return _value;
+	}
+
+private:
+	Type _slew_rate{}; ///< maximum rate of change for the value
+	Type _value{}; ///< state to keep last value of the slew rate
+};

src/lib/slew_rate/SlewRateTest.cpp

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+/****************************************************************************
+ *
+ *   Copyright (C) 2020 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.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <SlewRate.hpp>
+
+TEST(SlewRateTest, SlewUpLimited)
+{
+	SlewRate<float> _slew_rate;
+	_slew_rate.setSlewRate(.1f);
+	_slew_rate.setForcedValue(-5.5f);
+
+	for (int i = 1; i <= 10; i++) {
+		EXPECT_FLOAT_EQ(_slew_rate.update(20.f, .2f), -5.5f + i * .02f);
+	}
+}
+
+TEST(SlewRateTest, SlewDownLimited)
+{
+	SlewRate<float> _slew_rate;
+	_slew_rate.setSlewRate(1.1f);
+	_slew_rate.setForcedValue(17.3f);
+
+	for (int i = 1; i <= 10; i++) {
+		EXPECT_FLOAT_EQ(_slew_rate.update(-50.f, .3f), 17.3f - i * .33f);
+	}
+}
+
+TEST(SlewRateTest, ReachValueSlewed)
+{
+	SlewRate<float> _slew_rate;
+	_slew_rate.setSlewRate(.2f);
+	_slew_rate.setForcedValue(8.f);
+
+	for (int i = 1; i <= 10; i++) {
+		EXPECT_FLOAT_EQ(_slew_rate.update(10.f, 1.f), 8.f + i * .2f);
+	}
+
+	for (int i = 1; i <= 10; i++) {
+		EXPECT_FLOAT_EQ(_slew_rate.update(10.f, 1.f), 10.f);
+	}
+}