From 6adc1755cc5c196dccdee4f7eb58413e897164ae Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Sat, 9 Dec 2017 13:36:59 +0100 Subject: [PATCH] FlightTaskManualPosition: most basic implementation --- .../tasks/FlightTaskManualPosition.cpp | 117 ++++++++++++++++++ .../tasks/FlightTaskManualPosition.hpp | 70 +++++++++++ 2 files changed, 187 insertions(+) create mode 100644 src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp create mode 100644 src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp new file mode 100644 index 0000000000..7f64958457 --- /dev/null +++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp @@ -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 +#include +#include + +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; +} diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp new file mode 100644 index 0000000000..1c7c7d04eb --- /dev/null +++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp @@ -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 */ + +};