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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 @@
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(FlightTaskManualAltitudeSmoothVel
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FlightTaskManualAltitudeSmoothVel.cpp
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)
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target_link_libraries(FlightTaskManualAltitudeSmoothVel PUBLIC FlightTaskManualAltitude FlightTaskUtility)
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target_include_directories(FlightTaskManualAltitudeSmoothVel PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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+118
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file FlightManualAltitude.cpp
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*/
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#include "FlightTaskManualAltitudeSmoothVel.hpp"
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#include <float.h>
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using namespace matrix;
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bool FlightTaskManualAltitudeSmoothVel::activate(const vehicle_local_position_setpoint_s &last_setpoint)
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{
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bool ret = FlightTaskManualAltitude::activate(last_setpoint);
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// Check if the previous FlightTask provided setpoints
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// If the position setpoint is unknown, set to the current postion
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float z_sp_last = PX4_ISFINITE(last_setpoint.z) ? last_setpoint.z : _position(2);
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// If the velocity setpoint is unknown, set to the current velocity
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float vz_sp_last = PX4_ISFINITE(last_setpoint.vz) ? last_setpoint.vz : _velocity(2);
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// No acceleration estimate available, set to zero if the setpoint is NAN
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float az_sp_last = PX4_ISFINITE(last_setpoint.acceleration[2]) ? last_setpoint.acceleration[2] : 0.f;
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_smoothing.reset(az_sp_last, vz_sp_last, z_sp_last);
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return ret;
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}
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void FlightTaskManualAltitudeSmoothVel::reActivate()
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{
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FlightTaskManualAltitude::reActivate();
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// The task is reacivated while the vehicle is on the ground. To detect takeoff in mc_pos_control_main properly
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// using the generated jerk, reset the z derivatives to zero
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_smoothing.reset(0.f, 0.f, _position(2));
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}
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void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerPositionZ()
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{
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_smoothing.setCurrentPosition(_position(2));
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}
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void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerVelocityZ()
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{
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_smoothing.setCurrentVelocity(_velocity(2));
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}
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void FlightTaskManualAltitudeSmoothVel::_updateSetpoints()
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{
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// Set max accel/vel/jerk
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// Has to be done before _updateTrajectories()
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_updateTrajConstraints();
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_smoothing.setVelSpFeedback(_velocity_setpoint_feedback(2));
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_smoothing.setCurrentPositionEstimate(_position(2));
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// Get yaw setpoint, un-smoothed position setpoints
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FlightTaskManualAltitude::_updateSetpoints();
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_smoothing.update(_deltatime, _velocity_setpoint(2));
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// Fill the jerk, acceleration, velocity and position setpoint vectors
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_setOutputState();
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}
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void FlightTaskManualAltitudeSmoothVel::_updateTrajConstraints()
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{
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_smoothing.setMaxJerk(_param_mpc_jerk_max.get());
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_smoothing.setMaxAccelUp(_param_mpc_acc_up_max.get());
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_smoothing.setMaxVelUp(_constraints.speed_up);
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_smoothing.setMaxAccelDown(_param_mpc_acc_down_max.get());
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_smoothing.setMaxVelDown(_constraints.speed_down);
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}
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void FlightTaskManualAltitudeSmoothVel::_setOutputState()
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{
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_jerk_setpoint(2) = _smoothing.getCurrentJerk();
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_acceleration_setpoint(2) = _smoothing.getCurrentAcceleration();
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_velocity_setpoint(2) = _smoothing.getCurrentVelocity();
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_position_setpoint(2) = _smoothing.getCurrentPosition();
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}
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+72
@@ -0,0 +1,72 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
|
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*
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* 1. Redistributions of source code must retain the above copyright
|
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* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
|
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* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file FlightManualAltitudeSmoothVel.hpp
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*
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* Flight task for manual controlled altitude using the velocity smoothing library
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*/
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#pragma once
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#include "FlightTaskManualAltitude.hpp"
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#include "ManualVelocitySmoothingZ.hpp"
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class FlightTaskManualAltitudeSmoothVel : public FlightTaskManualAltitude
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{
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public:
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FlightTaskManualAltitudeSmoothVel() = default;
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virtual ~FlightTaskManualAltitudeSmoothVel() = default;
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bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
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void reActivate() override;
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protected:
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virtual void _updateSetpoints() override;
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/** Reset position or velocity setpoints in case of EKF reset event */
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void _ekfResetHandlerPositionZ() override;
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void _ekfResetHandlerVelocityZ() override;
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
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(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
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(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
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(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
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)
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private:
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void _updateTrajConstraints();
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void _setOutputState();
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ManualVelocitySmoothingZ _smoothing; ///< Smoothing in z direction
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};
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