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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 +1,46 @@
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############################################################################
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#
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# Copyright (c) 2018 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(FlightTaskManualPosition
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FlightTaskManualPosition.cpp
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FlightTaskManualPosition.hpp
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)
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target_link_libraries(FlightTaskManualPosition
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PRIVATE
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CollisionPrevention
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PUBLIC
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FlightTaskManualAltitude
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)
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target_include_directories(FlightTaskManualPosition PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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@@ -0,0 +1,180 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 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 FlightTaskManualPosition.cpp
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*/
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#include "FlightTaskManualPosition.hpp"
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#include <mathlib/mathlib.h>
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#include <float.h>
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using namespace matrix;
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FlightTaskManualPosition::FlightTaskManualPosition() : _collision_prevention(this)
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{
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}
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bool FlightTaskManualPosition::updateInitialize()
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{
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bool ret = FlightTaskManualAltitude::updateInitialize();
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// require valid position / velocity in xy
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return ret && PX4_ISFINITE(_position(0))
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&& PX4_ISFINITE(_position(1))
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&& PX4_ISFINITE(_velocity(0))
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&& PX4_ISFINITE(_velocity(1));
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}
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bool FlightTaskManualPosition::activate(const vehicle_local_position_setpoint_s &last_setpoint)
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{
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// all requirements from altitude-mode still have to hold
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bool ret = FlightTaskManualAltitude::activate(last_setpoint);
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// set task specific constraint
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if (_constraints.speed_xy >= _param_mpc_vel_manual.get()) {
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_constraints.speed_xy = _param_mpc_vel_manual.get();
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}
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_position_setpoint(0) = _position(0);
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_position_setpoint(1) = _position(1);
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_velocity_setpoint(0) = _velocity_setpoint(1) = 0.0f;
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_velocity_scale = _constraints.speed_xy;
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// for position-controlled mode, we need a valid position and velocity state
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// in NE-direction
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return ret;
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}
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void FlightTaskManualPosition::_scaleSticks()
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{
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/* Use same scaling as for FlightTaskManualAltitude */
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FlightTaskManualAltitude::_scaleSticks();
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/* Constrain length of stick inputs to 1 for xy*/
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Vector2f stick_xy = _sticks.getPositionExpo().slice<2, 1>(0, 0);
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const float mag = math::constrain(stick_xy.length(), 0.0f, 1.0f);
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if (mag > FLT_EPSILON) {
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stick_xy = stick_xy.normalized() * mag;
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}
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const float max_speed_from_estimator = _sub_vehicle_local_position.get().vxy_max;
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if (PX4_ISFINITE(max_speed_from_estimator)) {
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// use the minimum of the estimator and user specified limit
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_velocity_scale = fminf(_constraints.speed_xy, max_speed_from_estimator);
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// Allow for a minimum of 0.3 m/s for repositioning
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_velocity_scale = fmaxf(_velocity_scale, 0.3f);
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} else {
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_velocity_scale = _constraints.speed_xy;
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}
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_velocity_scale = fminf(_computeVelXYGroundDist(), _velocity_scale);
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// scale velocity to its maximum limits
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Vector2f vel_sp_xy = stick_xy * _velocity_scale;
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/* Rotate setpoint into local frame. */
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_rotateIntoHeadingFrame(vel_sp_xy);
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// collision prevention
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if (_collision_prevention.is_active()) {
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_collision_prevention.modifySetpoint(vel_sp_xy, _velocity_scale, Vector2f(_position),
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Vector2f(_velocity));
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}
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_velocity_setpoint.xy() = vel_sp_xy;
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}
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float FlightTaskManualPosition::_computeVelXYGroundDist()
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{
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float max_vel_xy = _constraints.speed_xy;
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// limit speed gradually within the altitudes MPC_LAND_ALT1 and MPC_LAND_ALT2
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if (PX4_ISFINITE(_dist_to_ground)) {
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max_vel_xy = math::gradual(_dist_to_ground,
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_param_mpc_land_alt2.get(), _param_mpc_land_alt1.get(),
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_param_mpc_land_vel_xy.get(), _constraints.speed_xy);
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}
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return max_vel_xy;
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}
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void FlightTaskManualPosition::_updateXYlock()
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{
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/* If position lock is not active, position setpoint is set to NAN.*/
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const float vel_xy_norm = Vector2f(_velocity).length();
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const bool apply_brake = Vector2f(_velocity_setpoint).length() < FLT_EPSILON;
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const bool stopped = (_param_mpc_hold_max_xy.get() < FLT_EPSILON || vel_xy_norm < _param_mpc_hold_max_xy.get());
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if (apply_brake && stopped && !PX4_ISFINITE(_position_setpoint(0))) {
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_position_setpoint(0) = _position(0);
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_position_setpoint(1) = _position(1);
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} else if (PX4_ISFINITE(_position_setpoint(0)) && apply_brake) {
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// Position is locked but check if a reset event has happened.
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// We will shift the setpoints.
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if (_sub_vehicle_local_position.get().xy_reset_counter != _reset_counter) {
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_position_setpoint(0) = _position(0);
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_position_setpoint(1) = _position(1);
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_reset_counter = _sub_vehicle_local_position.get().xy_reset_counter;
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}
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} else {
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/* don't lock*/
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_position_setpoint(0) = NAN;
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_position_setpoint(1) = NAN;
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}
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}
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void FlightTaskManualPosition::_updateSetpoints()
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{
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FlightTaskManualAltitude::_updateSetpoints(); // needed to get yaw and setpoints in z-direction
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_acceleration_setpoint.setNaN(); // don't use the horizontal setpoints from FlightTaskAltitude
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_updateXYlock(); // check for position lock
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// check if an external yaw handler is active and if yes, let it update the yaw setpoints
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if (_weathervane_yaw_handler != nullptr && _weathervane_yaw_handler->is_active()) {
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_yaw_setpoint = NAN;
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// only enable the weathervane to change the yawrate when position lock is active (and thus the pos. sp. are NAN)
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if (PX4_ISFINITE(_position_setpoint(0)) && PX4_ISFINITE(_position_setpoint(1))) {
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// vehicle is steady
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_yawspeed_setpoint += _weathervane_yaw_handler->get_weathervane_yawrate();
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}
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}
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}
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@@ -0,0 +1,81 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 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 FlightTaskManualPosition.hpp
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*
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* Flight task for manual position controlled mode.
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*
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*/
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#pragma once
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#include <lib/collision_prevention/CollisionPrevention.hpp>
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#include "FlightTaskManualAltitude.hpp"
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class FlightTaskManualPosition : public FlightTaskManualAltitude
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{
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public:
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FlightTaskManualPosition();
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virtual ~FlightTaskManualPosition() = default;
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bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
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bool updateInitialize() override;
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/**
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* Sets an external yaw handler which can be used to implement a different yaw control strategy.
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*/
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void setYawHandler(WeatherVane *yaw_handler) override { _weathervane_yaw_handler = yaw_handler; }
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protected:
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void _updateXYlock(); /**< applies position lock based on stick and velocity */
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void _updateSetpoints() override;
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void _scaleSticks() override;
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
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(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
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(ParamFloat<px4::params::MPC_LAND_VEL_XY>) _param_mpc_land_vel_xy,
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(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
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(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy
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)
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private:
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float _computeVelXYGroundDist();
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float _velocity_scale{0.0f}; //scales the stick input to velocity
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uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */
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WeatherVane *_weathervane_yaw_handler =
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nullptr; /**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
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CollisionPrevention _collision_prevention; /**< collision avoidance setpoint amendment */
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};
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