FlightTasks: move stick handling into library

2026-10-26 03:53:33 +08:00 · 2020-07-14 18:07:09 +02:00
parent 49a543e1b2
commit 9daff24e79
11 changed files with 202 additions and 105 deletions
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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:
+ *
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+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
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+ *    the documentation and/or other materials provided with the
+ *    distribution.
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+ *    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
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+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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+ *
+ ****************************************************************************/
+
+/**
+ * @file Sticks.hpp
+ *
+ * Library abstracting stick input from manual_control_setpoint
+ *
+ * @author Matthias Grob <maetugr@gmail.com>
+ */
+
+#pragma once
+
+#include <px4_platform_common/module_params.h>
+#include <matrix/matrix/math.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/landing_gear.h>
+#include <uORB/topics/manual_control_setpoint.h>
+
+class Sticks : public ModuleParams
+{
+public:
+	Sticks(ModuleParams *parent);
+	~Sticks() = default;
+
+	bool evaluateSticks(hrt_abstime now, landing_gear_s &gear); ///< checks and sets stick inputs
+	void applyGearSwitch(uint8_t gear_switch, landing_gear_s &gear); ///< Sets gears according to switch
+	const matrix::Vector<float, 4> &getPosition() { return _positions; };
+	const matrix::Vector<float, 4> &getPositionExpo() { return _positions_expo; };
+private:
+	matrix::Vector<float, 4> _positions; ///< unmodified manual stick inputs
+	matrix::Vector<float, 4> _positions_expo; ///< modified manual sticks using expo function
+	int _gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE; ///< old switch state
+
+	uORB::SubscriptionData<manual_control_setpoint_s> _sub_manual_control_setpoint{ORB_ID(manual_control_setpoint)};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,
+		(ParamFloat<px4::params::MPC_XY_MAN_EXPO>) _param_mpc_xy_man_expo,
+		(ParamFloat<px4::params::MPC_Z_MAN_EXPO>) _param_mpc_z_man_expo,
+		(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo,
+		(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t
+	)
+};