fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-30 05:34:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskManualPosition: most basic implementation

Browse Source
This commit is contained in:
Dennis Mannhart 2017-12-09 13:36:59 +01:00 committed by Beat Küng
parent b5c19f6483
commit 6adc1755cc
2 changed files with 187 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

117
src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp Normal file
View File

@ -0,0 +1,117 @@
/****************************************************************************
*
* 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 position.
*
*/
#include "FlightTaskManualPosition.hpp"
#include <mathlib/mathlib.h>
#include <float.h>
#include <lib/geo/geo.h>
using namespace matrix;
FlightTaskManualPosition::FlightTaskManualPosition(control::SuperBlock *parent, const char *name) :
FlightTaskManual(parent, name),
_vel_xy_manual_max(parent, "MPC_VEL_MANUAL", false)
{}
bool FlightTaskManualPosition::activate()
{
_pos_sp_xy = _pos_sp_predicted = matrix::Vector2f(_position(0), _position(1));
_vel_sp_xy = matrix::Vector3f(NAN, NAN);
return FlightTaskManualAltitude::activate();
}
void FlightTaskManualPosition::scale_sticks()
{
/* scale all sticks including altitude and yaw */
FlightTaskManualAltitude::scale_sticks();
matrix::Vector2f stick_xy(_sticks_expo(0), _sticks_expo(1));
/* constrain length of stick inputs to 1 */
float mag = math::constrain(stick_xy.length(), 0.0f, 1.0f);
stick_xy = stick_xy.normalized() * mag;
/* scale to velocity */
_vel_sp_xy = stick_xy * _vel_xy_manual_max.get();
/* rotate setpoint into local frame */
_vel_sp_xy = matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f, _yaw_sp)) * _vel_sp_xy;
}
void FlightTaskManualPosition::update_xy_setpoints()
{
matrix::Vector2f stick_xy(_sticks_expo(0), _sticks_expo(1));
if (stick_xy.length() < FLT_EPSILON) {
/* want to hold position */
_vel_sp_xy = matrix::Vector2f(NAN, NAN);
_pos_sp_xy = _pos_sp_predicted;
} else {
/* want to change position */
_pos_sp_xy = matrix::Vector2f(NAN, NAN);
_pos_sp_predicted = matrix::Vector2f(_position(0), _position(1)) + _vel_sp_xy * _deltatime;
}
}
void FlightTaskManualPosition::update_setpoints()
{
/* scale all sticks */
scale_sticks();
/* update all setpoints */
FlightTaskManualAltitude::update_setpoints();
update_xy_setpoints();
}
bool FlightTaskManualPosition::update()
{
scale_sticks();
update_setpoints();
_setPositionSetpoint(Vector3f(_pos_sp_xy(0), _pos_sp_xy(1), _pos_sp_z));
_setVelocitySetpoint(Vector3f(_vel_sp_xy(0), _vel_sp_xy(1), _vel_sp_z));
_setYawSetpoint(_yaw_sp);
_setYawspeedSetpoint(_yaw_rate_sp);
return true;
}

70
src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp Normal file
View File

@ -0,0 +1,70 @@
/****************************************************************************
*
* 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 position.
*
*/
#pragma once
#include "FlightTaskManualAltitude.hpp"
class FlightTaskManualPosition : public FlightTaskManualAltitude
{
public:
FlightTaskManualPosition(control::SuperBlock *parent, const char *name);
virtual ~FlightTaskManualPosition() = default;
bool activate() override;
bool update() override;
protected:
matrix::Vector2f _vel_sp_xy{}; /* scaled velocity setpoint from stick */
matrix::Vector2f _pos_sp_xy{};
control::BlockParamFloat _vel_xy_manual_max; /**< maximum speed allowed horizontally */
void update_setpoints() override;
void scale_sticks() override;
private:
void update_xy_setpoints();
matrix::Vector2f _pos_sp_predicted{}; /**< position setpoint computed in set_xy_setpoints */
};