From 4f5fa33e74c72826aed24ce0c366d9ae6199f421 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 8 Dec 2017 19:44:27 +0100 Subject: [PATCH] FlightTaskManualAltitude: scale stick z to velocity --- .../tasks/FlightTaskManualAltitude.cpp | 90 +++++++++++++++++++ .../tasks/FlightTaskManualAltitude.hpp | 66 ++++++++++++++ 2 files changed, 156 insertions(+) create mode 100644 src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp create mode 100644 src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp new file mode 100644 index 0000000000..4fa3d66df1 --- /dev/null +++ b/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 +#include +#include + +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; +} diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp new file mode 100644 index 0000000000..c2249c3d0d --- /dev/null +++ b/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; + +};