diff --git a/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt index 280123ce1e..cb30b9ea36 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt +++ b/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 ) diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp new file mode 100644 index 0000000000..49c9b2f83c --- /dev/null +++ b/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 +#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; +} diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp b/src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.hpp new file mode 100644 index 0000000000..38f42ed384 --- /dev/null +++ b/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 + */ + +#pragma once + +#include +#include +#include + +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 _man_input_filter; + + DEFINE_PARAMETERS( + (ParamFloat) _param_mpc_man_tilt_max, ///< maximum tilt allowed for manual flight + (ParamFloat) _param_mc_man_tilt_tau ///< time constant for stick filter + ) +};