Add StickTiltXY utility class to FLightTasks

to map stick input to vehicle tilt consistently and reliably across modes.

src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 - 2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2023 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
@@ -34,6 +34,7 @@
 px4_add_library(FlightTaskUtility
 	Sticks.cpp
 	StickAccelerationXY.cpp
+	StickTiltXY.cpp
 	StickYaw.cpp
 )
 

src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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 "StickTiltXY.hpp"
+
+#include <geo/geo.h>
+#include "Sticks.hpp"
+
+using namespace matrix;
+
+StickTiltXY::StickTiltXY(ModuleParams *parent) :
+	ModuleParams(parent)
+{}
+
+Vector2f StickTiltXY::generateAccelerationSetpoints(Vector2f stick_xy, const float dt, const float yaw,
+		const float yaw_setpoint)
+{
+	Sticks::limitStickUnitLengthXY(stick_xy);
+	_man_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
+	stick_xy = _man_input_filter.update(stick_xy);
+	Sticks::rotateIntoHeadingFrameXY(stick_xy, yaw, yaw_setpoint);
+	return stick_xy * tanf(math::radians(_param_mpc_man_tilt_max.get())) * CONSTANTS_ONE_G;
+}

src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp

@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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 StickTiltXY.hpp
+ * @brief Generate only horizontal acceleration setpoint from stick input
+ * @author Matthias Grob <maetugr@gmail.com>
+ */
+
+#pragma once
+
+#include <lib/mathlib/math/filter/AlphaFilter.hpp>
+#include <matrix/math.hpp>
+#include <px4_platform_common/module_params.h>
+
+class StickTiltXY : public ModuleParams
+{
+public:
+	StickTiltXY(ModuleParams *parent);
+	~StickTiltXY() = default;
+
+	/**
+	 * Produce acceleration setpoint to tilt a multicopter based on stick input
+	 *
+	 * Forward pitch stick input pitches the vehicle's pitch e.g. accelerates the vehicle in its nose direction.
+	 *
+	 * @param stick_xy the raw pitch and roll stick positions as input
+	 * @param dt time in seconds since the last execution
+	 * @param yaw the current yaw estimate for frame rotation
+	 * @param yaw_setpoint the current heading setpoint used instead of the estimate if absolute yaw is locked
+	 * @return NED frame horizontal x, y axis acceleration setpoint
+	 */
+	matrix::Vector2f generateAccelerationSetpoints(matrix::Vector2f stick_xy, const float dt, const float yaw,
+			const float yaw_setpoint);
+private:
+	AlphaFilter<matrix::Vector2f> _man_input_filter;
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max, ///< maximum tilt allowed for manual flight
+		(ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau ///< time constant for stick filter
+	)
+};