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FlightTasks: added possibility to set velocity setpoint, switched Orbit to feedback velocity algorithm

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Matthias Grob 2017-05-30 17:10:53 +02:00 committed by Beat Küng
parent e51e5f3e01
commit 73f633dfd2
1 changed files with 16 additions and 11 deletions
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27
src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
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@ -72,24 +72,29 @@ public:
virtual int update()
{
FlightTask::update();
r += _sticks(1) * _deltatime;
r = math::constrain(r, 0.5f, 4.f);
v += _sticks(0) * _deltatime; /* angular velocity for orbiting in revolutions per second */
v = math::constrain(v, -4.f, 4.f);
v -= _sticks(0) * _deltatime;
v = math::constrain(v, -7.f, 7.f);
altitude += _sticks(3) * _deltatime;
altitude = math::constrain(altitude, 2.f, 5.f);
printf("%f %f %f\n", (double)altitude, (double)r, (double)v);
matrix::Vector2<float> target_to_position = matrix::Vector2f(_position.data()) - matrix::Vector2f();
// TODO: add local frame target position here
//printf("%f %f %f\n", (double)_position(0), (double)_position(1), (double)_position(2));
//printf("%f %f %f\n", (double)_velocity(0), (double)_velocity(1), (double)_velocity(2));
if (fabsf(r) < 0.01f) {
r = 0.01;
}
/* xy velocity to go around in a circle */
matrix::Vector2<float> velocity_xy = matrix::Vector2f(target_to_position(1), -target_to_position(0));
velocity_xy.normalize();
velocity_xy *= v;
float w = v / r; /* angular velocity for orbiting in radians per second */
_set_position_setpoint(matrix::Vector3f(r * cosf(w * _time), r * sinf(w * _time), -altitude));
/* xy velocity adjustment to stay on the radius distance */
velocity_xy += (r - target_to_position.norm()) * target_to_position.normalized();
//printf("%f %f %f\n", (double)altitude, (double)r, (double)v);
_set_position_setpoint(matrix::Vector3f(NAN, NAN, -altitude));
_set_velocity_setpoint(matrix::Vector3f(velocity_xy(0), velocity_xy(1), 0.f));
return 0;
};