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FlightTaskOrbit: parameterize hardcoded maximum radius (#20012)

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Matthias Grob 2022-08-05 09:19:32 +02:00 committed by GitHub
parent dfdfbbfa9c
commit 87cbda1992
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3 changed files with 47 additions and 3 deletions
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4
src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
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@ -72,7 +72,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
float new_velocity = signFromBool(new_is_clockwise) * new_absolute_velocity;
if (math::isInRange(new_radius, _radius_min, _radius_max)) {
if (math::isInRange(new_radius, _radius_min, _param_mc_orbit_rad_max.get())) {
_started_clockwise = new_is_clockwise;
_sanitizeParams(new_radius, new_velocity);
_orbit_radius = new_radius;
@ -146,7 +146,7 @@ bool FlightTaskOrbit::sendTelemetry()
void FlightTaskOrbit::_sanitizeParams(float &radius, float &velocity) const
{
// clip the radius to be within range
radius = math::constrain(radius, _radius_min, _radius_max);
radius = math::constrain(radius, _radius_min, _param_mc_orbit_rad_max.get());
velocity = math::constrain(velocity, -fabsf(_velocity_max), fabsf(_velocity_max));
bool exceeds_maximum_acceleration = (velocity * velocity) >= _acceleration_max * radius;

2
src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
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@ -70,7 +70,6 @@ protected:
private:
/* TODO: Should be controlled by params */
static constexpr float _radius_min = 1.f;
static constexpr float _radius_max = 1e3f;
static constexpr float _velocity_max = 10.f;
static constexpr float _acceleration_max = 2.f;
static constexpr float _horizontal_acceptance_radius = 2.f;
@ -132,6 +131,7 @@ private:
uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MC_ORBIT_RAD_MAX>) _param_mc_orbit_rad_max,
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise, /**< cruise speed for circle approach */
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,

44
src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c Normal file
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@ -0,0 +1,44 @@
/****************************************************************************
*
* Copyright (c) 2022 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.
*
****************************************************************************/
/**
* Maximum radius of orbit
*
* @unit m
* @min 1.0
* @max 10000.0
* @increment 0.5
* @decimal 1
* @group FlightTaskOrbit
*/
PARAM_DEFINE_FLOAT(MC_ORBIT_RAD_MAX, 1000.0f);