flight_mode_manager: merge with flight_tasks

src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp

@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   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 spec{fic 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 StickAccelerationXY.cpp
+ */
+
+#include "StickAccelerationXY.hpp"
+
+#include <ecl/geo/geo.h>
+#include "Sticks.hpp"
+
+using namespace matrix;
+
+StickAccelerationXY::StickAccelerationXY(ModuleParams *parent) :
+	ModuleParams(parent)
+{
+	_brake_boost_filter.reset(1.f);
+	resetPosition();
+}
+
+void StickAccelerationXY::resetPosition()
+{
+	_position.setNaN();
+}
+
+void StickAccelerationXY::resetVelocity(const matrix::Vector2f &velocity)
+{
+	_velocity = velocity;
+}
+
+void StickAccelerationXY::resetAcceleration(const matrix::Vector2f &acceleration)
+{
+	_acceleration_slew_rate_x.setForcedValue(acceleration(0));
+	_acceleration_slew_rate_x.setForcedValue(acceleration(1));
+}
+
+void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw, const float yaw_sp, const Vector3f &pos,
+		const float dt)
+{
+	// maximum commanded acceleration and velocity
+	Vector2f acceleration_scale(_param_mpc_acc_hor.get(), _param_mpc_acc_hor.get());
+	Vector2f velocity_scale(_param_mpc_vel_manual.get(), _param_mpc_vel_manual.get());
+
+	acceleration_scale *= 2.f; // because of drag the average aceleration is half
+
+	// Map stick input to acceleration
+	Sticks::limitStickUnitLengthXY(stick_xy);
+	Sticks::rotateIntoHeadingFrameXY(stick_xy, yaw, yaw_sp);
+	_acceleration = stick_xy.emult(acceleration_scale);
+	applyFeasibilityLimit(_acceleration, dt);
+
+	// Add drag to limit speed and brake again
+	_acceleration -= calculateDrag(acceleration_scale.edivide(velocity_scale), dt, stick_xy, _velocity);
+
+	applyTiltLimit(_acceleration);
+
+	// Generate velocity setpoint by forward integrating commanded acceleration
+	_velocity += Vector2f(_acceleration) * dt;
+
+	lockPosition(_velocity, pos, dt, _position);
+}
+
+void StickAccelerationXY::getSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, Vector3f &acc_sp)
+{
+	pos_sp.xy() = _position;
+	vel_sp.xy() = _velocity;
+	acc_sp.xy() = _acceleration;
+}
+
+void StickAccelerationXY::applyFeasibilityLimit(Vector2f &acceleration, const float dt)
+{
+	// Apply jerk limit - acceleration slew rate
+	_acceleration_slew_rate_x.setSlewRate(_param_mpc_jerk_max.get());
+	_acceleration_slew_rate_y.setSlewRate(_param_mpc_jerk_max.get());
+	acceleration(0) = _acceleration_slew_rate_x.update(acceleration(0), dt);
+	acceleration(1) = _acceleration_slew_rate_y.update(acceleration(1), dt);
+}
+
+Vector2f StickAccelerationXY::calculateDrag(Vector2f drag_coefficient, const float dt, const Vector2f &stick_xy,
+		const Vector2f &vel_sp)
+{
+	_brake_boost_filter.setParameters(dt, .8f);
+
+	if (stick_xy.norm_squared() < FLT_EPSILON) {
+		_brake_boost_filter.update(2.f);
+
+	} else {
+		_brake_boost_filter.update(1.f);
+	}
+
+	drag_coefficient *= _brake_boost_filter.getState();
+
+	// increase drag with sqareroot function when velocity is lower than 1m/s
+	const Vector2f velocity_with_sqrt_boost = vel_sp.unit_or_zero() * math::sqrt_linear(vel_sp.norm());
+	return drag_coefficient.emult(velocity_with_sqrt_boost);
+}
+
+void StickAccelerationXY::applyTiltLimit(Vector2f &acceleration)
+{
+	// Check if acceleration would exceed the tilt limit
+	const float acc = acceleration.length();
+	const float acc_tilt_max = tanf(M_DEG_TO_RAD_F * _param_mpc_tiltmax_air.get()) * CONSTANTS_ONE_G;
+
+	if (acc > acc_tilt_max) {
+		acceleration *= acc_tilt_max / acc;
+	}
+}
+
+void StickAccelerationXY::lockPosition(const Vector2f &vel_sp, const Vector3f &pos, const float dt, Vector2f &pos_sp)
+{
+	if (vel_sp.norm_squared() < FLT_EPSILON) {
+		if (!PX4_ISFINITE(pos_sp(0))) {
+			pos_sp = Vector2f(pos);
+		}
+
+	} else {
+		pos_sp.setNaN();
+
+	}
+}