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lib: name folders consistently

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Daniel Agar
2019-11-13 09:29:21 -05:00
parent c5520cbaca
commit 7996ee496c
101 changed files with 12 additions and 12 deletions
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src/lib/flight_tasks/tasks/ManualPositionSmooth/CMakeLists.txt
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############################################################################
#
# Copyright (c) 2018 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.
#
############################################################################
px4_add_library(FlightTaskManualPositionSmooth
FlightTaskManualPositionSmooth.cpp
)
target_link_libraries(FlightTaskManualPositionSmooth PUBLIC FlightTaskManualPosition FlightTaskUtility)
target_include_directories(FlightTaskManualPositionSmooth PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
src/lib/flight_tasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.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 FlightManualPositionSmooth.cpp
*/
#include "FlightTaskManualPositionSmooth.hpp"
using namespace matrix;
FlightTaskManualPositionSmooth::FlightTaskManualPositionSmooth() :
_smoothingXY(this, Vector2f(_velocity)),
_smoothingZ(this, _velocity(2), _sticks(2))
{}
void FlightTaskManualPositionSmooth::_updateSetpoints()
{
/* Get yaw setpont, un-smoothed position setpoints.*/
FlightTaskManualPosition::_updateSetpoints();
/* Smooth velocity setpoint in xy.*/
Vector2f vel(_velocity);
Vector2f vel_sp_xy(_velocity_setpoint);
_smoothingXY.updateMaxVelocity(_constraints.speed_xy);
_smoothingXY.smoothVelocity(vel_sp_xy, vel, _yaw, _yawspeed_setpoint, _deltatime);
_velocity_setpoint(0) = vel_sp_xy(0);
_velocity_setpoint(1) = vel_sp_xy(1);
/* Check for xy position lock.*/
_updateXYlock();
/* Smooth velocity in z.*/
_smoothingZ.smoothVelFromSticks(_velocity_setpoint(2), _deltatime);
/* Check for altitude lock*/
_updateAltitudeLock();
}
src/lib/flight_tasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.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 FlightManualPositionSmooth.hpp
*
* Flight task for smooth manual controlled position.
*/
#pragma once
#include "FlightTaskManualPosition.hpp"
#include "ManualSmoothingXY.hpp"
#include "ManualSmoothingZ.hpp"
class FlightTaskManualPositionSmooth : public FlightTaskManualPosition
{
public:
FlightTaskManualPositionSmooth();
virtual ~FlightTaskManualPositionSmooth() = default;
protected:
virtual void _updateSetpoints() override;
private:
ManualSmoothingXY _smoothingXY; /**< smoothing for velocity setpoints in xy */
ManualSmoothingZ _smoothingZ; /**< smoothing for velocity in z */
};