FlightTaskManualAltitude: scale stick z to velocity

src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp

@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 FlightTaskManual.hpp
+ *
+ * Flight task for manual controlled altitude.
+ *
+ */
+
+#include "FlightTaskManualAltitude.hpp"
+#include <mathlib/mathlib.h>
+#include <float.h>
+#include <lib/geo/geo.h>
+
+using namespace matrix;
+
+FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent, const char *name) :
+	FlightTaskManual(parent, name),
+	_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
+	_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
+	_yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false)
+{}
+
+bool FlightTaskManualAltitude::activate()
+{
+	_pos_sp_z = _position(2);
+	_yaw_sp = _yaw;
+	return FlightTaskManual::activate();
+}
+
+bool FlightTaskManualAltitude::update()
+{
+	/* map stick to velocity */
+	const float vel_max_z = (_sticks(2) > 0.0f) ? _vel_max_down.get() : _vel_max_up.get();
+	float vel_sp_z = vel_max_z * _sticks_expo(2);
+
+	const float yaw_rate_sp = _sticks(3) * _yaw_rate_scaling;
+
+	if(fabsf(_sticks(2)) < FLT_EPSILON) {
+		_setPositionSetpoint(Vector3f(NAN, NAN, _pos_sp_z));
+		_setVelocitySetpoint(Vector3f(NAN, NAN, NAN));
+
+	} else {
+		_setPositionSetpoint(Vector3f(NAN, NAN, NAN));
+		_setVelocitySetpoint(Vector3f(NAN, NAN, vel_sp_z));
+		_pos_sp_z = _position(2) + vel_sp_z * _deltatime;
+	}
+
+	if(fabsf(_sticks(3) < FLT_EPSILON)) {
+		_setYawspeedSetpoint(NAN);
+		_setYawSetpoint(_yaw_sp);
+	} else {
+		_setYawspeedSetpoint(yaw_rate_sp);
+		_setYawSetpoint(NAN);
+		_yaw_sp = _wrap_pi(_yaw_sp + yaw_rate_sp * _deltatime)
+	}
+
+	return true;
+}

src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 FlightTaskOrbit.hpp
+ *
+ * Flight task for manual controlled altitude.
+ *
+ */
+
+#pragma once
+
+#include "FlightTaskManual.hpp"
+
+class FlightTaskManualAltitude : public FlightTaskManual
+{
+public:
+	FlightTaskManualAltitude(control::SuperBlock *parent, const char *name);
+
+	virtual ~FlightTaskManualAltitude() = default;
+
+	bool activate() override;
+
+	bool update() override;
+
+protected:
+	float _pos_sp_z{0.0f};
+	float _yaw_sp{0.0f};
+
+private:
+
+	control::BlockParamFloat _vel_max_down; /**< maximum speed allowed to go up */
+	control::BlockParamFloat _vel_max_up; /**< maximum speed allowed to go down */
+	control::BlockParamFloat _yaw_rate_scaling;
+
+};