FlightTaskManualPosition: most basic implementation

src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp

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+/****************************************************************************
+ *
+ *   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;
+}

src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp

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+/****************************************************************************
+ *
+ *   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 */
+
+};