From 1e56eed2aa2d3c6aae048466224a33c9fb41a88f Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 14 Jul 2020 13:47:43 +0200 Subject: [PATCH] Remove FlightTaskManual from the inheritance structure --- src/lib/flight_tasks/tasks/CMakeLists.txt | 1 - .../flight_tasks/tasks/Manual/CMakeLists.txt | 39 ------------ .../tasks/Manual/FlightTaskManual.cpp | 60 ------------------- .../tasks/Manual/FlightTaskManual.hpp | 56 ----------------- .../tasks/ManualAltitude/CMakeLists.txt | 2 +- .../FlightTaskManualAltitude.cpp | 16 ++++- .../FlightTaskManualAltitude.hpp | 12 ++-- 7 files changed, 22 insertions(+), 164 deletions(-) delete mode 100644 src/lib/flight_tasks/tasks/Manual/CMakeLists.txt delete mode 100644 src/lib/flight_tasks/tasks/Manual/FlightTaskManual.cpp delete mode 100644 src/lib/flight_tasks/tasks/Manual/FlightTaskManual.hpp diff --git a/src/lib/flight_tasks/tasks/CMakeLists.txt b/src/lib/flight_tasks/tasks/CMakeLists.txt index 306d9a326b..ede187999d 100644 --- a/src/lib/flight_tasks/tasks/CMakeLists.txt +++ b/src/lib/flight_tasks/tasks/CMakeLists.txt @@ -34,7 +34,6 @@ # add the core Flight tasks that the additional flight tasks depend on add_subdirectory(FlightTask) add_subdirectory(Utility) -add_subdirectory(Manual) add_subdirectory(Auto) add_subdirectory(AutoMapper) diff --git a/src/lib/flight_tasks/tasks/Manual/CMakeLists.txt b/src/lib/flight_tasks/tasks/Manual/CMakeLists.txt deleted file mode 100644 index 1c50ebc1f9..0000000000 --- a/src/lib/flight_tasks/tasks/Manual/CMakeLists.txt +++ /dev/null @@ -1,39 +0,0 @@ -############################################################################ -# -# 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. -# -############################################################################ - -px4_add_library(FlightTaskManual - FlightTaskManual.cpp -) - -target_link_libraries(FlightTaskManual PUBLIC FlightTask FlightTaskUtility) -target_include_directories(FlightTaskManual PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/lib/flight_tasks/tasks/Manual/FlightTaskManual.cpp b/src/lib/flight_tasks/tasks/Manual/FlightTaskManual.cpp deleted file mode 100644 index 6105c4e58c..0000000000 --- a/src/lib/flight_tasks/tasks/Manual/FlightTaskManual.cpp +++ /dev/null @@ -1,60 +0,0 @@ -/**************************************************************************** - * - * 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 FlightTaskManual.cpp - */ - -#include "FlightTaskManual.hpp" -#include -#include -#include - -using namespace matrix; -using namespace time_literals; - -FlightTaskManual::FlightTaskManual() : - _sticks(this) -{}; - -bool FlightTaskManual::updateInitialize() -{ - bool ret = FlightTask::updateInitialize(); - - const bool sticks_available = _sticks.evaluateSticks(_time_stamp_current, _gear); - - if (_sticks_data_required) { - ret = ret && sticks_available; - } - - return ret; -} diff --git a/src/lib/flight_tasks/tasks/Manual/FlightTaskManual.hpp b/src/lib/flight_tasks/tasks/Manual/FlightTaskManual.hpp deleted file mode 100644 index 074ad0436e..0000000000 --- a/src/lib/flight_tasks/tasks/Manual/FlightTaskManual.hpp +++ /dev/null @@ -1,56 +0,0 @@ -/**************************************************************************** - * - * 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 FlightTaskManual.hpp - * - * Linear and exponential map from stick inputs to range -1 and 1. - * - */ - -#pragma once - -#include "FlightTask.hpp" -#include "Sticks.hpp" - -class FlightTaskManual : public FlightTask -{ -public: - FlightTaskManual(); - virtual ~FlightTaskManual() = default; - bool updateInitialize() override; - -protected: - Sticks _sticks; - bool _sticks_data_required = true; /**< let inherited task-class define if it depends on stick data */ -}; diff --git a/src/lib/flight_tasks/tasks/ManualAltitude/CMakeLists.txt b/src/lib/flight_tasks/tasks/ManualAltitude/CMakeLists.txt index 14f9ce4986..271c69720d 100644 --- a/src/lib/flight_tasks/tasks/ManualAltitude/CMakeLists.txt +++ b/src/lib/flight_tasks/tasks/ManualAltitude/CMakeLists.txt @@ -35,5 +35,5 @@ px4_add_library(FlightTaskManualAltitude FlightTaskManualAltitude.cpp ) -target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTaskManual) +target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTask FlightTaskUtility) target_include_directories(FlightTaskManualAltitude PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp index ff62f305df..bfe734ac74 100644 --- a/src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp +++ b/src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp @@ -42,9 +42,19 @@ using namespace matrix; +FlightTaskManualAltitude::FlightTaskManualAltitude() : + _sticks(this) +{}; + bool FlightTaskManualAltitude::updateInitialize() { - bool ret = FlightTaskManual::updateInitialize(); + bool ret = FlightTask::updateInitialize(); + + const bool sticks_available = _sticks.evaluateSticks(_time_stamp_current, _gear); + + if (_sticks_data_required) { + ret = ret && sticks_available; + } // in addition to manual require valid position and velocity in D-direction and valid yaw return ret && PX4_ISFINITE(_position(2)) && PX4_ISFINITE(_velocity(2)) && PX4_ISFINITE(_yaw); @@ -52,7 +62,7 @@ bool FlightTaskManualAltitude::updateInitialize() bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s last_setpoint) { - bool ret = FlightTaskManual::activate(last_setpoint); + bool ret = FlightTask::activate(last_setpoint); _yaw_setpoint = NAN; _yawspeed_setpoint = 0.f; _acceleration_setpoint = Vector3f(0.f, 0.f, NAN); // altitude is controlled from position/velocity @@ -365,7 +375,7 @@ bool FlightTaskManualAltitude::_checkTakeoff() bool FlightTaskManualAltitude::update() { - bool ret = FlightTaskManual::update(); + bool ret = FlightTask::update(); _updateConstraintsFromEstimator(); _scaleSticks(); _updateSetpoints(); diff --git a/src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp b/src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp index 3beaa560dd..13d5bc4311 100644 --- a/src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp +++ b/src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp @@ -39,13 +39,14 @@ #pragma once -#include "FlightTaskManual.hpp" +#include "FlightTask.hpp" +#include "Sticks.hpp" #include -class FlightTaskManualAltitude : public FlightTaskManual +class FlightTaskManualAltitude : public FlightTask { public: - FlightTaskManualAltitude() = default; + FlightTaskManualAltitude(); virtual ~FlightTaskManualAltitude() = default; bool activate(vehicle_local_position_setpoint_s last_setpoint) override; bool updateInitialize() override; @@ -71,7 +72,10 @@ protected: */ void _updateAltitudeLock(); - DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual, + Sticks _sticks; + bool _sticks_data_required = true; ///< let inherited task-class define if it depends on stick data + + DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask, (ParamFloat) _param_mpc_hold_max_z, (ParamInt) _param_mpc_alt_mode, (ParamFloat) _param_mpc_hold_max_xy,