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lib: name folders consistently
This commit is contained in:
Daniel Agar
@@ -0,0 +1,38 @@
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############################################################################
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#
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# Copyright (c) 2018 PX4 Development Team. All rights reserved.
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#
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# 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
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(FlightTask
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FlightTask.cpp
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)
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target_include_directories(FlightTask PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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@@ -0,0 +1,199 @@
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#include "FlightTask.hpp"
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#include <mathlib/mathlib.h>
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#include <lib/ecl/geo/geo.h>
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constexpr uint64_t FlightTask::_timeout;
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// First index of empty_setpoint corresponds to time-stamp and requires a finite number.
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const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {}};
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const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, false, {}};
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const landing_gear_s FlightTask::empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}};
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bool FlightTask::activate(vehicle_local_position_setpoint_s last_setpoint)
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{
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_resetSetpoints();
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_setDefaultConstraints();
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_initEkfResetCounters();
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_time_stamp_activate = hrt_absolute_time();
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_gear = empty_landing_gear_default_keep;
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return true;
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}
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void FlightTask::reActivate()
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{
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activate(getPositionSetpoint());
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}
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bool FlightTask::updateInitialize()
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{
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_time_stamp_current = hrt_absolute_time();
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_time = (_time_stamp_current - _time_stamp_activate) / 1e6f;
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_deltatime = math::min((_time_stamp_current - _time_stamp_last), _timeout) / 1e6f;
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_time_stamp_last = _time_stamp_current;
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_sub_vehicle_local_position.update();
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_sub_attitude.update();
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_evaluateVehicleLocalPosition();
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_checkEkfResetCounters();
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return true;
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}
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void FlightTask::_initEkfResetCounters()
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{
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_reset_counters.xy = _sub_vehicle_local_position.get().xy_reset_counter;
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_reset_counters.vxy = _sub_vehicle_local_position.get().vxy_reset_counter;
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_reset_counters.z = _sub_vehicle_local_position.get().z_reset_counter;
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_reset_counters.vz = _sub_vehicle_local_position.get().vz_reset_counter;
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_reset_counters.quat = _sub_attitude.get().quat_reset_counter;
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}
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void FlightTask::_checkEkfResetCounters()
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{
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// Check if a reset event has happened
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if (_sub_vehicle_local_position.get().xy_reset_counter != _reset_counters.xy) {
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_ekfResetHandlerPositionXY();
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_reset_counters.xy = _sub_vehicle_local_position.get().xy_reset_counter;
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}
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if (_sub_vehicle_local_position.get().vxy_reset_counter != _reset_counters.vxy) {
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_ekfResetHandlerVelocityXY();
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_reset_counters.vxy = _sub_vehicle_local_position.get().vxy_reset_counter;
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}
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if (_sub_vehicle_local_position.get().z_reset_counter != _reset_counters.z) {
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_ekfResetHandlerPositionZ();
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_reset_counters.z = _sub_vehicle_local_position.get().z_reset_counter;
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}
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if (_sub_vehicle_local_position.get().vz_reset_counter != _reset_counters.vz) {
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_ekfResetHandlerVelocityZ();
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_reset_counters.vz = _sub_vehicle_local_position.get().vz_reset_counter;
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}
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if (_sub_attitude.get().quat_reset_counter != _reset_counters.quat) {
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float delta_psi = matrix::Eulerf(matrix::Quatf(_sub_attitude.get().delta_q_reset)).psi();
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_ekfResetHandlerHeading(delta_psi);
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_reset_counters.quat = _sub_attitude.get().quat_reset_counter;
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}
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}
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const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
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{
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/* fill position setpoint message */
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vehicle_local_position_setpoint_s vehicle_local_position_setpoint;
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vehicle_local_position_setpoint.timestamp = hrt_absolute_time();
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vehicle_local_position_setpoint.x = _position_setpoint(0);
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vehicle_local_position_setpoint.y = _position_setpoint(1);
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vehicle_local_position_setpoint.z = _position_setpoint(2);
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vehicle_local_position_setpoint.vx = _velocity_setpoint(0);
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vehicle_local_position_setpoint.vy = _velocity_setpoint(1);
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vehicle_local_position_setpoint.vz = _velocity_setpoint(2);
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_acceleration_setpoint.copyTo(vehicle_local_position_setpoint.acceleration);
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_jerk_setpoint.copyTo(vehicle_local_position_setpoint.jerk);
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_thrust_setpoint.copyTo(vehicle_local_position_setpoint.thrust);
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vehicle_local_position_setpoint.yaw = _yaw_setpoint;
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vehicle_local_position_setpoint.yawspeed = _yawspeed_setpoint;
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return vehicle_local_position_setpoint;
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}
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void FlightTask::_resetSetpoints()
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{
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_position_setpoint.setAll(NAN);
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_velocity_setpoint.setAll(NAN);
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_acceleration_setpoint.setAll(NAN);
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_jerk_setpoint.setAll(NAN);
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_thrust_setpoint.setAll(NAN);
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_yaw_setpoint = _yawspeed_setpoint = NAN;
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}
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void FlightTask::_evaluateVehicleLocalPosition()
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{
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_position.setAll(NAN);
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_velocity.setAll(NAN);
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_yaw = NAN;
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_dist_to_bottom = NAN;
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if ((_time_stamp_current - _sub_attitude.get().timestamp) < _timeout) {
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// yaw
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_yaw = matrix::Eulerf(matrix::Quatf(_sub_attitude.get().q)).psi();
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}
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// Only use vehicle-local-position topic fields if the topic is received within a certain timestamp
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if ((_time_stamp_current - _sub_vehicle_local_position.get().timestamp) < _timeout) {
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// position
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if (_sub_vehicle_local_position.get().xy_valid) {
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_position(0) = _sub_vehicle_local_position.get().x;
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_position(1) = _sub_vehicle_local_position.get().y;
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}
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if (_sub_vehicle_local_position.get().z_valid) {
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_position(2) = _sub_vehicle_local_position.get().z;
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}
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// velocity
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if (_sub_vehicle_local_position.get().v_xy_valid) {
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_velocity(0) = _sub_vehicle_local_position.get().vx;
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_velocity(1) = _sub_vehicle_local_position.get().vy;
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}
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if (_sub_vehicle_local_position.get().v_z_valid) {
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_velocity(2) = _sub_vehicle_local_position.get().vz;
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}
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// distance to bottom
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if (_sub_vehicle_local_position.get().dist_bottom_valid
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&& PX4_ISFINITE(_sub_vehicle_local_position.get().dist_bottom)) {
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_dist_to_bottom = _sub_vehicle_local_position.get().dist_bottom;
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}
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// global frame reference coordinates to enable conversions
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if (_sub_vehicle_local_position.get().xy_global && _sub_vehicle_local_position.get().z_global) {
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globallocalconverter_init(_sub_vehicle_local_position.get().ref_lat, _sub_vehicle_local_position.get().ref_lon,
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_sub_vehicle_local_position.get().ref_alt, _sub_vehicle_local_position.get().ref_timestamp);
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}
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}
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}
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void FlightTask::_setDefaultConstraints()
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{
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_constraints.speed_xy = _param_mpc_xy_vel_max.get();
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_constraints.speed_up = _param_mpc_z_vel_max_up.get();
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_constraints.speed_down = _param_mpc_z_vel_max_dn.get();
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_constraints.tilt = math::radians(_param_mpc_tiltmax_air.get());
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_constraints.min_distance_to_ground = NAN;
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_constraints.max_distance_to_ground = NAN;
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_constraints.want_takeoff = false;
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}
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bool FlightTask::_checkTakeoff()
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{
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// position setpoint above the minimum altitude
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bool position_triggered_takeoff = false;
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if (PX4_ISFINITE(_position_setpoint(2))) {
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// minimal altitude either 20cm or what is necessary for correct estimation e.g. optical flow
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float min_altitude = 0.2f;
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const float min_distance_to_ground = _sub_vehicle_local_position.get().hagl_min;
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if (PX4_ISFINITE(min_distance_to_ground)) {
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min_altitude = min_distance_to_ground + 0.05f;
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}
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position_triggered_takeoff = _position_setpoint(2) < (_position(2) - min_altitude);
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}
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// upwards velocity setpoint
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bool velocity_triggered_takeoff = false;
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if (PX4_ISFINITE(_velocity_setpoint(2))) {
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velocity_triggered_takeoff = _velocity_setpoint(2) < -0.3f;
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}
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return position_triggered_takeoff || velocity_triggered_takeoff;
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}
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@@ -0,0 +1,260 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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
|
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* without specific prior written permission.
|
||||
*
|
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* 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
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file FlightTask.hpp
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*
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* Abstract base class for different advanced flight tasks like orbit, follow me, ...
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include <px4_platform_common/module_params.h>
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#include <drivers/drv_hrt.h>
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#include <matrix/matrix/math.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/landing_gear.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_constraints.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_trajectory_waypoint.h>
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#include <lib/weather_vane/WeatherVane.hpp>
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class FlightTask : public ModuleParams
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{
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public:
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FlightTask() :
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ModuleParams(nullptr)
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{
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_resetSetpoints();
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_constraints = empty_constraints;
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}
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virtual ~FlightTask() = default;
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/**
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* Call once on the event where you switch to the task
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* @param state of the previous task
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* @return true on success, false on error
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*/
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virtual bool activate(vehicle_local_position_setpoint_s last_setpoint);
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/**
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* Call this to reset an active Flight Task
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*/
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virtual void reActivate();
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/**
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* To be called to adopt parameters from an arrived vehicle command
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* @param command received command message containing the parameters
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* @return true if accepted, false if declined
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*/
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virtual bool applyCommandParameters(const vehicle_command_s &command) { return false; }
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/**
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* Call before activate() or update()
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* to initialize time and input data
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* @return true on success, false on error
|
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*/
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virtual bool updateInitialize();
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/**
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* To be called regularly in the control loop cycle to execute the task
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* @return true on success, false on error
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*/
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virtual bool update() = 0;
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/**
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* Call after update()
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* to constrain the generated setpoints in order to comply
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* with the constraints of the current mode
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* @return true on success, false on error
|
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*/
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virtual bool updateFinalize() { return true; };
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/**
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* Get the output data
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* @return task output setpoints that get executed by the positon controller
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*/
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const vehicle_local_position_setpoint_s getPositionSetpoint();
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/**
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* Get vehicle constraints.
|
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* The constraints can vary with task.
|
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* @return constraints
|
||||
*/
|
||||
const vehicle_constraints_s &getConstraints() { return _constraints; }
|
||||
|
||||
/**
|
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* Get landing gear position.
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* The constraints can vary with task.
|
||||
* @return landing gear
|
||||
*/
|
||||
const landing_gear_s &getGear() { return _gear; }
|
||||
|
||||
/**
|
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* Get avoidance desired waypoint
|
||||
* @return desired waypoints
|
||||
*/
|
||||
const vehicle_trajectory_waypoint_s &getAvoidanceWaypoint() { return _desired_waypoint; }
|
||||
|
||||
/**
|
||||
* Empty setpoint.
|
||||
* All setpoints are set to NAN.
|
||||
*/
|
||||
static const vehicle_local_position_setpoint_s empty_setpoint;
|
||||
|
||||
/**
|
||||
* Empty constraints.
|
||||
* All constraints are set to NAN.
|
||||
*/
|
||||
static const vehicle_constraints_s empty_constraints;
|
||||
|
||||
/**
|
||||
* default landing gear state
|
||||
*/
|
||||
static const landing_gear_s empty_landing_gear_default_keep;
|
||||
|
||||
/**
|
||||
* Call this whenever a parameter update notification is received (parameter_update uORB message)
|
||||
*/
|
||||
void handleParameterUpdate()
|
||||
{
|
||||
updateParams();
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets an external yaw handler which can be used by any flight task to implement a different yaw control strategy.
|
||||
* This method does nothing, each flighttask which wants to use the yaw handler needs to override this method.
|
||||
*/
|
||||
virtual void setYawHandler(WeatherVane *ext_yaw_handler) {}
|
||||
|
||||
void updateVelocityControllerIO(const matrix::Vector3f &vel_sp,
|
||||
const matrix::Vector3f &thrust_sp) {_velocity_setpoint_feedback = vel_sp; _thrust_setpoint_feedback = thrust_sp; }
|
||||
|
||||
protected:
|
||||
|
||||
uORB::SubscriptionData<vehicle_local_position_s> _sub_vehicle_local_position{ORB_ID(vehicle_local_position)};
|
||||
uORB::SubscriptionData<vehicle_attitude_s> _sub_attitude{ORB_ID(vehicle_attitude)};
|
||||
|
||||
/** Reset all setpoints to NAN */
|
||||
void _resetSetpoints();
|
||||
|
||||
/** Check and update local position */
|
||||
void _evaluateVehicleLocalPosition();
|
||||
|
||||
/** Set constraints to default values */
|
||||
virtual void _setDefaultConstraints();
|
||||
|
||||
/** Determine when to trigger a takeoff (ignored in flight) */
|
||||
virtual bool _checkTakeoff();
|
||||
|
||||
/**
|
||||
* Monitor the EKF reset counters and
|
||||
* call the appropriate handling functions in case of a reset event
|
||||
*/
|
||||
void _initEkfResetCounters();
|
||||
void _checkEkfResetCounters();
|
||||
virtual void _ekfResetHandlerPositionXY() {};
|
||||
virtual void _ekfResetHandlerVelocityXY() {};
|
||||
virtual void _ekfResetHandlerPositionZ() {};
|
||||
virtual void _ekfResetHandlerVelocityZ() {};
|
||||
virtual void _ekfResetHandlerHeading(float delta_psi) {};
|
||||
|
||||
/* Time abstraction */
|
||||
static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */
|
||||
float _time = 0; /**< passed time in seconds since the task was activated */
|
||||
float _deltatime = 0; /**< passed time in seconds since the task was last updated */
|
||||
hrt_abstime _time_stamp_activate = 0; /**< time stamp when task was activated */
|
||||
hrt_abstime _time_stamp_current = 0; /**< time stamp at the beginning of the current task update */
|
||||
hrt_abstime _time_stamp_last = 0; /**< time stamp when task was last updated */
|
||||
|
||||
/* Current vehicle state */
|
||||
matrix::Vector3f _position; /**< current vehicle position */
|
||||
matrix::Vector3f _velocity; /**< current vehicle velocity */
|
||||
float _yaw = 0.f; /**< current vehicle yaw heading */
|
||||
float _dist_to_bottom = 0.0f; /**< current height above ground level */
|
||||
|
||||
/**
|
||||
* Setpoints which the position controller has to execute.
|
||||
* Setpoints that are set to NAN are not controlled. Not all setpoints can be set at the same time.
|
||||
* If more than one type of setpoint is set, then order of control is a as follow: position, velocity,
|
||||
* acceleration, thrust. The exception is _position_setpoint together with _velocity_setpoint, where the
|
||||
* _velocity_setpoint is used as feedforward.
|
||||
* _acceleration_setpoint and _jerk_setpoint are currently not supported.
|
||||
*/
|
||||
matrix::Vector3f _position_setpoint;
|
||||
matrix::Vector3f _velocity_setpoint;
|
||||
matrix::Vector3f _acceleration_setpoint;
|
||||
matrix::Vector3f _jerk_setpoint;
|
||||
matrix::Vector3f _thrust_setpoint;
|
||||
float _yaw_setpoint;
|
||||
float _yawspeed_setpoint;
|
||||
|
||||
matrix::Vector3f _velocity_setpoint_feedback;
|
||||
matrix::Vector3f _thrust_setpoint_feedback;
|
||||
|
||||
/* Counters for estimator local position resets */
|
||||
struct {
|
||||
uint8_t xy = 0;
|
||||
uint8_t vxy = 0;
|
||||
uint8_t z = 0;
|
||||
uint8_t vz = 0;
|
||||
uint8_t quat = 0;
|
||||
} _reset_counters;
|
||||
|
||||
/**
|
||||
* Vehicle constraints.
|
||||
* The constraints can vary with tasks.
|
||||
*/
|
||||
vehicle_constraints_s _constraints{};
|
||||
|
||||
landing_gear_s _gear{};
|
||||
|
||||
/**
|
||||
* Desired waypoints.
|
||||
* Goals set by the FCU to be sent to the obstacle avoidance system.
|
||||
*/
|
||||
vehicle_trajectory_waypoint_s _desired_waypoint{};
|
||||
|
||||
DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
|
||||
(ParamFloat<px4::params::MPC_XY_VEL_MAX>) _param_mpc_xy_vel_max,
|
||||
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,
|
||||
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up,
|
||||
(ParamFloat<px4::params::MPC_TILTMAX_AIR>) _param_mpc_tiltmax_air
|
||||
)
|
||||
};
|
||||
Reference in New Issue
Block a user