mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 11:43:35 +08:00
flight_mode_manager: merge with flight_tasks
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
b1e442b830
commit
4d7b875ee2
@@ -0,0 +1,39 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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(FlightTaskManualAcceleration
|
||||
FlightTaskManualAcceleration.cpp
|
||||
)
|
||||
target_include_directories(FlightTaskManualAcceleration PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
|
||||
target_link_libraries(FlightTaskManualAcceleration PUBLIC FlightTaskManualAltitudeSmoothVel FlightTaskUtility)
|
||||
+115
@@ -0,0 +1,115 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 FlightTaskManualAcceleration.cpp
|
||||
*/
|
||||
|
||||
#include "FlightTaskManualAcceleration.hpp"
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
FlightTaskManualAcceleration::FlightTaskManualAcceleration() :
|
||||
_stick_acceleration_xy(this)
|
||||
{};
|
||||
|
||||
bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoint_s &last_setpoint)
|
||||
{
|
||||
bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
|
||||
|
||||
if (PX4_ISFINITE(last_setpoint.vx)) {
|
||||
_velocity_setpoint.xy() = Vector2f(last_setpoint.vx, last_setpoint.vy);
|
||||
|
||||
} else {
|
||||
_velocity_setpoint.xy() = Vector2f(_velocity);
|
||||
}
|
||||
|
||||
_stick_acceleration_xy.resetPosition();
|
||||
|
||||
if (PX4_ISFINITE(last_setpoint.acceleration[0])) {
|
||||
_stick_acceleration_xy.resetAcceleration(Vector2f(last_setpoint.acceleration[0], last_setpoint.acceleration[1]));
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool FlightTaskManualAcceleration::update()
|
||||
{
|
||||
bool ret = FlightTaskManualAltitudeSmoothVel::update();
|
||||
|
||||
_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint,
|
||||
_sticks.getPositionExpo()(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
|
||||
_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _yaw_setpoint, _position,
|
||||
_deltatime);
|
||||
_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);
|
||||
|
||||
_constraints.want_takeoff = _checkTakeoff();
|
||||
return ret;
|
||||
}
|
||||
|
||||
void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY()
|
||||
{
|
||||
if (PX4_ISFINITE(_position_setpoint(0))) {
|
||||
_position_setpoint(0) = _position(0);
|
||||
_position_setpoint(1) = _position(1);
|
||||
}
|
||||
}
|
||||
|
||||
void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY()
|
||||
{
|
||||
if (PX4_ISFINITE(_velocity_setpoint(0))) {
|
||||
_velocity_setpoint(0) = _velocity(0);
|
||||
_velocity_setpoint(1) = _velocity(1);
|
||||
}
|
||||
}
|
||||
|
||||
void FlightTaskManualAcceleration::_ekfResetHandlerPositionZ()
|
||||
{
|
||||
if (PX4_ISFINITE(_position_setpoint(2))) {
|
||||
_position_setpoint(2) = _position(2);
|
||||
}
|
||||
}
|
||||
|
||||
void FlightTaskManualAcceleration::_ekfResetHandlerVelocityZ()
|
||||
{
|
||||
if (PX4_ISFINITE(_velocity_setpoint(2))) {
|
||||
_velocity_setpoint(2) = _velocity(2);
|
||||
}
|
||||
}
|
||||
|
||||
void FlightTaskManualAcceleration::_ekfResetHandlerHeading(float delta_psi)
|
||||
{
|
||||
if (PX4_ISFINITE(_yaw_setpoint)) {
|
||||
_yaw_setpoint += delta_psi;
|
||||
}
|
||||
}
|
||||
+64
@@ -0,0 +1,64 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 FlightTaskManualPosition.hpp
|
||||
*
|
||||
* Flight task for manual position controlled mode.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "FlightTaskManualAltitudeSmoothVel.hpp"
|
||||
#include "StickAccelerationXY.hpp"
|
||||
#include "StickYaw.hpp"
|
||||
|
||||
class FlightTaskManualAcceleration : public FlightTaskManualAltitudeSmoothVel
|
||||
{
|
||||
public:
|
||||
FlightTaskManualAcceleration();
|
||||
virtual ~FlightTaskManualAcceleration() = default;
|
||||
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
|
||||
bool update() override;
|
||||
|
||||
private:
|
||||
StickAccelerationXY _stick_acceleration_xy;
|
||||
StickYaw _stick_yaw;
|
||||
|
||||
void _ekfResetHandlerPositionXY() override;
|
||||
void _ekfResetHandlerVelocityXY() override;
|
||||
void _ekfResetHandlerPositionZ() override;
|
||||
void _ekfResetHandlerVelocityZ() override;
|
||||
void _ekfResetHandlerHeading(float delta_psi) override;
|
||||
};
|
||||
Reference in New Issue
Block a user