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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/Transition/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(FlightTaskTransition
FlightTaskTransition.cpp
)
target_link_libraries(FlightTaskTransition PUBLIC FlightTask)
target_include_directories(FlightTaskTransition PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
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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.
*
****************************************************************************/
/**
* @file FlightTaskTranstion.cpp
*/
#include "FlightTaskTransition.hpp"
bool FlightTaskTransition::updateInitialize()
{
return FlightTask::updateInitialize();
}
bool FlightTaskTransition::activate(vehicle_local_position_setpoint_s last_setpoint)
{
checkSetpoints(last_setpoint);
_transition_altitude = last_setpoint.z;
_transition_yaw = last_setpoint.yaw;
_acceleration_setpoint.setAll(0.f);
_velocity_prev = _velocity;
return FlightTask::activate(last_setpoint);
}
void FlightTaskTransition::checkSetpoints(vehicle_local_position_setpoint_s &setpoints)
{
// If the setpoint is unknown, set to the current estimate
if (!PX4_ISFINITE(setpoints.z)) { setpoints.z = _position(2); }
if (!PX4_ISFINITE(setpoints.yaw)) { setpoints.yaw = _yaw; }
}
void FlightTaskTransition::updateAccelerationEstimate()
{
// Estimate the acceleration by filtering the raw derivative of the velocity estimate
// This is done to provide a good estimate of the current acceleration to the next flight task after back-transition
_acceleration_setpoint = 0.9f * _acceleration_setpoint + 0.1f * (_velocity - _velocity_prev) / _deltatime;
if (!PX4_ISFINITE(_acceleration_setpoint(0)) ||
!PX4_ISFINITE(_acceleration_setpoint(1)) ||
!PX4_ISFINITE(_acceleration_setpoint(2))) {
_acceleration_setpoint.setAll(0.f);
}
_velocity_prev = _velocity;
}
bool FlightTaskTransition::update()
{
// level wings during the transition, altitude should be controlled
_thrust_setpoint(0) = _thrust_setpoint(1) = 0.0f;
_thrust_setpoint(2) = NAN;
_position_setpoint *= NAN;
_velocity_setpoint *= NAN;
_position_setpoint(2) = _transition_altitude;
updateAccelerationEstimate();
_yaw_setpoint = _transition_yaw;
return true;
}
src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
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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.
*
****************************************************************************/
/**
* @file FlightTaskTransition.hpp
*
* Flight task for automatic VTOL transitions between hover and forward flight and vice versa.
*/
#pragma once
#include "FlightTask.hpp"
class FlightTaskTransition : public FlightTask
{
public:
FlightTaskTransition() = default;
virtual ~FlightTaskTransition() = default;
bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
bool updateInitialize() override;
bool update() override;
private:
void checkSetpoints(vehicle_local_position_setpoint_s &setpoints);
void updateAccelerationEstimate();
float _transition_altitude = 0.0f;
float _transition_yaw = 0.0f;
matrix::Vector3f _velocity_prev{};
};