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FlightTasks: move stick handling into library
This commit is contained in:
Matthias Grob
committed by
Julian Kent
Julian Kent
parent
49a543e1b2
commit
9daff24e79
@@ -38,6 +38,7 @@ px4_add_library(FlightTaskUtility
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VelocitySmoothing.cpp
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ManualVelocitySmoothingXY.cpp
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ManualVelocitySmoothingZ.cpp
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Sticks.cpp
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)
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target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis bezier)
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@@ -0,0 +1,104 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* 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 Sticks.cpp
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*/
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#include "Sticks.hpp"
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using namespace time_literals;
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Sticks::Sticks(ModuleParams *parent) :
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ModuleParams(parent)
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{};
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bool Sticks::evaluateSticks(hrt_abstime now, landing_gear_s &gear)
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{
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_sub_manual_control_setpoint.update();
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hrt_abstime rc_timeout = (_param_com_rc_loss_t.get() * 1.5f) * 1_s;
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// Sticks are rescaled linearly and exponentially to [-1,1]
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if ((now - _sub_manual_control_setpoint.get().timestamp) < rc_timeout) {
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// Linear scale
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_positions(0) = _sub_manual_control_setpoint.get().x; // NED x, pitch [-1,1]
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_positions(1) = _sub_manual_control_setpoint.get().y; // NED y, roll [-1,1]
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_positions(2) = -(_sub_manual_control_setpoint.get().z - 0.5f) * 2.f; // NED z, thrust resacaled from [0,1] to [-1,1]
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_positions(3) = _sub_manual_control_setpoint.get().r; // yaw [-1,1]
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// Exponential scale
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_positions_expo(0) = math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
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_positions_expo(1) = math::expo_deadzone(_positions(1), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
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_positions_expo(2) = math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(), _param_mpc_hold_dz.get());
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_positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(), _param_mpc_hold_dz.get());
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// Only switch the landing gear up if the user switched from gear down to gear up.
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// If the user had the switch in the gear up position and took off ignore it
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// until he toggles the switch to avoid retracting the gear immediately on takeoff.
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int8_t gear_switch = _sub_manual_control_setpoint.get().gear_switch;
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if (_gear_switch_old != gear_switch) {
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applyGearSwitch(gear_switch, gear);
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}
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_gear_switch_old = gear_switch;
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// valid stick inputs are required
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const bool valid_sticks = PX4_ISFINITE(_positions(0))
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&& PX4_ISFINITE(_positions(1))
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&& PX4_ISFINITE(_positions(2))
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&& PX4_ISFINITE(_positions(3));
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return valid_sticks;
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} else {
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// Timeout: set all sticks to zero
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_positions.zero();
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_positions_expo.zero();
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gear.landing_gear = landing_gear_s::GEAR_KEEP;
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return false;
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}
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}
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void Sticks::applyGearSwitch(uint8_t gear_switch, landing_gear_s &gear)
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{
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if (gear_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
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gear.landing_gear = landing_gear_s::GEAR_DOWN;
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}
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if (gear_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
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gear.landing_gear = landing_gear_s::GEAR_UP;
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}
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}
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@@ -0,0 +1,74 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* 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 Sticks.hpp
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*
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* Library abstracting stick input from manual_control_setpoint
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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 <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/manual_control_setpoint.h>
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class Sticks : public ModuleParams
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{
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public:
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Sticks(ModuleParams *parent);
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~Sticks() = default;
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bool evaluateSticks(hrt_abstime now, landing_gear_s &gear); ///< checks and sets stick inputs
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void applyGearSwitch(uint8_t gear_switch, landing_gear_s &gear); ///< Sets gears according to switch
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const matrix::Vector<float, 4> &getPosition() { return _positions; };
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const matrix::Vector<float, 4> &getPositionExpo() { return _positions_expo; };
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private:
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matrix::Vector<float, 4> _positions; ///< unmodified manual stick inputs
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matrix::Vector<float, 4> _positions_expo; ///< modified manual sticks using expo function
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int _gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE; ///< old switch state
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uORB::SubscriptionData<manual_control_setpoint_s> _sub_manual_control_setpoint{ORB_ID(manual_control_setpoint)};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,
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(ParamFloat<px4::params::MPC_XY_MAN_EXPO>) _param_mpc_xy_man_expo,
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(ParamFloat<px4::params::MPC_Z_MAN_EXPO>) _param_mpc_z_man_expo,
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(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo,
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(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t
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)
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};
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