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ManualSmoothingXY fix comments and style

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 250afd49a9
commit 1317844a94
2 changed files with 117 additions and 84 deletions
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src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+32 -48
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@@ -61,19 +61,13 @@ void
ManualSmoothingXY::_updateAcceleration(matrix::Vector2f &vel_sp, const matrix::Vector2f &vel, const float &yaw,
const float &yawrate_sp, const float dt)
{
/*
* In manual mode we consider four states with different acceleration handling:
* 1. user wants to stop
* 2. user wants to quickly change direction
* 3. user wants to accelerate
* 4. user wants to decelerate
*/
Intention intention = _getIntention(vel_sp, vel, yaw, yawrate_sp);
/* Adapt acceleration and jerk based on current state and
* intention. Jerk is only used for braking.
*/
_getStateAcceleration(vel_sp, vel, intention, dt);
// Adapt acceleration and jerk based on current state and
// intention. Jerk is only used for braking.
_setStateAcceleration(vel_sp, vel, intention, dt);
}
ManualSmoothingXY::Intention
@@ -82,13 +76,13 @@ ManualSmoothingXY::_getIntention(const matrix::Vector2f &vel_sp, const matrix::V
{
if (vel_sp.length() > FLT_EPSILON) {
/* Distinguish between acceleration, deceleration and direction change */
// Distinguish between acceleration, deceleration and direction change
/* Check if stick direction and current velocity are within 135.
* If current setpoint and velocity are more than 135 apart, we assume
* that the user demanded a direction change.
* The detection is done in body frame. */
/* Rotate velocity setpoint into body frame */
// Check if stick direction and current velocity are within 135.
// If current setpoint and velocity are more than 135 apart, we assume
// that the user demanded a direction change.
// The detection is done in body frame.
// Rotate velocity setpoint into body frame
matrix::Vector2f vel_sp_heading = _getWorldToHeadingFrame(vel_sp, yaw);
matrix::Vector2f vel_heading = _getWorldToHeadingFrame(vel, yaw);
@@ -102,9 +96,9 @@ ManualSmoothingXY::_getIntention(const matrix::Vector2f &vel_sp, const matrix::V
const bool is_aligned = (vel_sp_heading * vel_heading) > -0.707f;
/* In almost all cases we want to use acceleration.
* Only use direction change if not aligned, no yawspeed demand, demand larger than 0.7 of max speed and velocity larger than 2m/s.
* Only use deceleration if stick input is lower than previous setpoint, aligned and no yawspeed demand. */
// In almost all cases we want to use acceleration.
// Only use direction change if not aligned, no yawspeed demand, demand larger than 0.7 of max speed and velocity larger than 2m/s.
// Only use deceleration if stick input is lower than previous setpoint, aligned and no yawspeed demand.
bool yawspeed_demand = fabsf(yawrate_sp) > 0.05f && PX4_ISFINITE(yawrate_sp);
bool direction_change = !is_aligned && (vel_sp.length() > 0.7f * _vel_max) && !yawspeed_demand
&& (vel.length() > 2.0f);
@@ -125,29 +119,26 @@ ManualSmoothingXY::_getIntention(const matrix::Vector2f &vel_sp, const matrix::V
}
void
ManualSmoothingXY::_getStateAcceleration(const matrix::Vector2f &vel_sp, const matrix::Vector2f &vel,
ManualSmoothingXY::_setStateAcceleration(const matrix::Vector2f &vel_sp, const matrix::Vector2f &vel,
const Intention &intention, const float dt)
{
switch (intention) {
case Intention::brake: {
if (_intention == Intention::direction_change) {
/* Vehicle switched from direciton change to brake.
* Don't do any slwerate but rather just stop.
*/
// Vehicle switched from direction change to brake.
// Don't do any slwerate and just stop.
_jerk_state_dependent = 1e6f;
_vel_sp_prev = vel;
} else if (intention != _intention) {
/* we start braking with lowest acceleration
* This make stopping smoother. */
// start the brake with lowest acceleration which
// makes stopping smoother
_acc_state_dependent = _dec_xy_min.get();
/* Adjust jerk based on current velocity, This ensures
* that the vehicle will stop much quicker at large speed but
* very slow at low speed.
*/
// Adjust jerk based on current velocity. This ensures
// that the vehicle will stop much quicker at large speed but
// very slow at low speed.
_jerk_state_dependent = 1e6f; // default
if (_jerk_max.get() > _jerk_min.get()) {
@@ -156,9 +147,9 @@ ManualSmoothingXY::_getStateAcceleration(const matrix::Vector2f &vel_sp, const m
/ _vel_max * vel.length() + _jerk_min.get(), _jerk_max.get());
}
/* Since user wants to brake smoothly but NOT continuing to fly
* in the opposite direction, we have to reset the slewrate
* by setting previous velocity setpoint to current velocity. */
// User wants to brake smoothly but does NOT want the vehicle to
// continue to fly in the opposite direction. slewrate has to be reset
// by setting previous velocity setpoint to current velocity. */
_vel_sp_prev = vel;
}
@@ -177,23 +168,19 @@ ManualSmoothingXY::_getStateAcceleration(const matrix::Vector2f &vel_sp, const m
}
case Intention::direction_change: {
// We allow for fast change by setting previous setpoint to current setpoint.
/* We allow for fast change by setting previous setpoint to current
* setpoint.
*/
_vel_sp_prev = vel_sp;
/* Because previous setpoint is equal to current setpoint,
* slewrate will have no effect. Nonetheless, just set
* acceleration to maximum.
*/
// Because previous setpoint is equal to current setpoint,
// slewrate will have no effect. Nonetheless, just set
// acceleration to maximum.
_acc_state_dependent = _acc_xy_max.get();
break;
}
case Intention::acceleration: {
/* Limit acceleration linearly based on velocity setpoint.*/
// Limit acceleration linearly based on velocity setpoint.
_acc_state_dependent = (_acc_xy_max.get() - _dec_xy_min.get())
/ _vel_max * vel_sp.length() + _dec_xy_min.get();
break;
@@ -205,18 +192,17 @@ ManualSmoothingXY::_getStateAcceleration(const matrix::Vector2f &vel_sp, const m
}
}
/* Update intention for next iteration */
// Update intention for next iteration.
_intention = intention;
}
void
ManualSmoothingXY::_velocitySlewRate(matrix::Vector2f &vel_sp, const float dt)
{
/* Adjust velocity setpoint if demand exceeds acceleration. */
// Adjust velocity setpoint if demand exceeds acceleration. /
matrix::Vector2f acc = (vel_sp - _vel_sp_prev) / dt;
if (acc.length() > _acc_state_dependent) {
vel_sp = acc.normalized() * _acc_state_dependent * dt + _vel_sp_prev;
}
}
@@ -224,7 +210,6 @@ ManualSmoothingXY::_velocitySlewRate(matrix::Vector2f &vel_sp, const float dt)
matrix::Vector2f
ManualSmoothingXY::_getWorldToHeadingFrame(const matrix::Vector2f &vec, const float &yaw)
{
matrix::Quatf q_yaw = matrix::AxisAnglef(matrix::Vector3f(0.0f, 0.0f, 1.0f), yaw);
matrix::Vector3f vec_heading = q_yaw.conjugate_inversed(matrix::Vector3f(vec(0), vec(1), 0.0f));
return matrix::Vector2f(&vec_heading(0));
@@ -233,7 +218,6 @@ ManualSmoothingXY::_getWorldToHeadingFrame(const matrix::Vector2f &vec, const fl
matrix::Vector2f
ManualSmoothingXY::_getHeadingToWorldFrame(const matrix::Vector2f &vec, const float &yaw)
{
matrix::Quatf q_yaw = matrix::AxisAnglef(matrix::Vector3f(0.0f, 0.0f, 1.0f), yaw);
matrix::Vector3f vec_world = q_yaw.conjugate(matrix::Vector3f(vec(0), vec(1), 0.0f));
return matrix::Vector2f(&vec_world(0));