flight_mode_manager: merge with flight_tasks

2026-10-22 11:43:35 +08:00 · 2021-01-17 15:46:30 +01:00
parent b1e442b830
commit 4d7b875ee2
79 changed files with 353 additions and 611 deletions
@@ -0,0 +1,180 @@
+/****************************************************************************
+ *
+ *   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 FlightTaskManualPosition.cpp
+ */
+
+#include "FlightTaskManualPosition.hpp"
+#include <mathlib/mathlib.h>
+#include <float.h>
+
+using namespace matrix;
+
+FlightTaskManualPosition::FlightTaskManualPosition() : _collision_prevention(this)
+{
+
+}
+
+bool FlightTaskManualPosition::updateInitialize()
+{
+	bool ret = FlightTaskManualAltitude::updateInitialize();
+	// require valid position / velocity in xy
+	return ret && PX4_ISFINITE(_position(0))
+	       && PX4_ISFINITE(_position(1))
+	       && PX4_ISFINITE(_velocity(0))
+	       && PX4_ISFINITE(_velocity(1));
+}
+
+bool FlightTaskManualPosition::activate(const vehicle_local_position_setpoint_s &last_setpoint)
+{
+	// all requirements from altitude-mode still have to hold
+	bool ret = FlightTaskManualAltitude::activate(last_setpoint);
+
+	// set task specific constraint
+	if (_constraints.speed_xy >= _param_mpc_vel_manual.get()) {
+		_constraints.speed_xy = _param_mpc_vel_manual.get();
+	}
+
+	_position_setpoint(0) = _position(0);
+	_position_setpoint(1) = _position(1);
+	_velocity_setpoint(0) = _velocity_setpoint(1) = 0.0f;
+	_velocity_scale = _constraints.speed_xy;
+
+	// for position-controlled mode, we need a valid position and velocity state
+	// in NE-direction
+	return ret;
+}
+
+void FlightTaskManualPosition::_scaleSticks()
+{
+	/* Use same scaling as for FlightTaskManualAltitude */
+	FlightTaskManualAltitude::_scaleSticks();
+
+	/* Constrain length of stick inputs to 1 for xy*/
+	Vector2f stick_xy = _sticks.getPositionExpo().slice<2, 1>(0, 0);
+
+	const float mag = math::constrain(stick_xy.length(), 0.0f, 1.0f);
+
+	if (mag > FLT_EPSILON) {
+		stick_xy = stick_xy.normalized() * mag;
+	}
+
+	const float max_speed_from_estimator = _sub_vehicle_local_position.get().vxy_max;
+
+	if (PX4_ISFINITE(max_speed_from_estimator)) {
+		// use the minimum of the estimator and user specified limit
+		_velocity_scale = fminf(_constraints.speed_xy, max_speed_from_estimator);
+		// Allow for a minimum of 0.3 m/s for repositioning
+		_velocity_scale = fmaxf(_velocity_scale, 0.3f);
+
+	} else {
+		_velocity_scale = _constraints.speed_xy;
+	}
+
+	_velocity_scale = fminf(_computeVelXYGroundDist(), _velocity_scale);
+
+	// scale velocity to its maximum limits
+	Vector2f vel_sp_xy = stick_xy * _velocity_scale;
+
+	/* Rotate setpoint into local frame. */
+	_rotateIntoHeadingFrame(vel_sp_xy);
+
+	// collision prevention
+	if (_collision_prevention.is_active()) {
+		_collision_prevention.modifySetpoint(vel_sp_xy, _velocity_scale, Vector2f(_position),
+						     Vector2f(_velocity));
+	}
+
+	_velocity_setpoint.xy() = vel_sp_xy;
+}
+
+float FlightTaskManualPosition::_computeVelXYGroundDist()
+{
+	float max_vel_xy = _constraints.speed_xy;
+
+	// limit speed gradually within the altitudes MPC_LAND_ALT1 and MPC_LAND_ALT2
+	if (PX4_ISFINITE(_dist_to_ground)) {
+		max_vel_xy = math::gradual(_dist_to_ground,
+					   _param_mpc_land_alt2.get(), _param_mpc_land_alt1.get(),
+					   _param_mpc_land_vel_xy.get(), _constraints.speed_xy);
+	}
+
+	return max_vel_xy;
+}
+
+void FlightTaskManualPosition::_updateXYlock()
+{
+	/* If position lock is not active, position setpoint is set to NAN.*/
+	const float vel_xy_norm = Vector2f(_velocity).length();
+	const bool apply_brake = Vector2f(_velocity_setpoint).length() < FLT_EPSILON;
+	const bool stopped = (_param_mpc_hold_max_xy.get() < FLT_EPSILON || vel_xy_norm < _param_mpc_hold_max_xy.get());
+
+	if (apply_brake && stopped && !PX4_ISFINITE(_position_setpoint(0))) {
+		_position_setpoint(0) = _position(0);
+		_position_setpoint(1) = _position(1);
+
+	} else if (PX4_ISFINITE(_position_setpoint(0)) && apply_brake) {
+		// Position is locked but check if a reset event has happened.
+		// We will shift the setpoints.
+		if (_sub_vehicle_local_position.get().xy_reset_counter != _reset_counter) {
+			_position_setpoint(0) = _position(0);
+			_position_setpoint(1) = _position(1);
+			_reset_counter = _sub_vehicle_local_position.get().xy_reset_counter;
+		}
+
+	} else {
+		/* don't lock*/
+		_position_setpoint(0) = NAN;
+		_position_setpoint(1) = NAN;
+	}
+}
+
+void FlightTaskManualPosition::_updateSetpoints()
+{
+	FlightTaskManualAltitude::_updateSetpoints(); // needed to get yaw and setpoints in z-direction
+	_acceleration_setpoint.setNaN(); // don't use the horizontal setpoints from FlightTaskAltitude
+
+	_updateXYlock(); // check for position lock
+
+	// check if an external yaw handler is active and if yes, let it update the yaw setpoints
+	if (_weathervane_yaw_handler != nullptr && _weathervane_yaw_handler->is_active()) {
+		_yaw_setpoint = NAN;
+
+		// only enable the weathervane to change the yawrate when position lock is active (and thus the pos. sp. are NAN)
+		if (PX4_ISFINITE(_position_setpoint(0)) && PX4_ISFINITE(_position_setpoint(1))) {
+			// vehicle is steady
+			_yawspeed_setpoint += _weathervane_yaw_handler->get_weathervane_yawrate();
+		}
+	}
+}