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flight tasks: use placement new to reduce memory overhead and the need for dynamic allocations

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In addition, we will need some shared data structure for the uorb
subscriptions.
This commit is contained in:
Beat Küng
2018-04-05 07:30:12 +02:00
parent 99eb051c0f
commit b5ecf9824d
6 changed files with 86 additions and 96 deletions
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src/lib/FlightTasks/tasks/FlightTask.hpp
+1 -15
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@@ -54,25 +54,11 @@ public:
FlightTask(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_sub_vehicle_local_position(ORB_ID(vehicle_local_position), 0, 0, &getSubscriptions())
{ };
virtual ~FlightTask() {};
/**
* Call once on the event where you switch to the task
* @return 0 on success, <0 on error
*/
virtual int activate()
{
_time_stamp_activate = hrt_absolute_time();
FlightTask::update();
return 0;
};
/**
* Call once on the event of switching away from the task
* @return 0 on success, <0 on error
*/
virtual int disable() { return 0; };
virtual ~FlightTask() = default;
/**
* To be called regularly in the control loop cycle to execute the task
src/lib/FlightTasks/tasks/FlightTaskManual.cpp
+25 -10
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@@ -46,20 +46,35 @@
using namespace matrix;
int FlightTaskManual::activate()
FlightTaskManual::FlightTaskManual(SuperBlock *parent, const char *name) :
FlightTask(parent, name),
_sub_manual_control_setpoint(ORB_ID(manual_control_setpoint), 0, 0, &getSubscriptions()),
_xy_vel_man_expo(parent, "MPC_XY_MAN_EXPO", false),
_z_vel_man_expo(parent, "MPC_Z_MAN_EXPO", false),
_hold_dz(parent, "MPC_HOLD_DZ", false),
_velocity_hor_manual(parent, "MPC_VEL_MANUAL", false),
_z_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
_z_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
_hold_max_xy(parent, "MPC_HOLD_MAX_XY", false),
_hold_max_z(parent, "MPC_HOLD_MAX_Z", false),
_jerk_hor_max(parent, "MPC_JERK_MAX", false),
_jerk_hor_min(parent, "MPC_JERK_MIN", false),
_deceleration_hor_slow(parent, "MPC_DEC_HOR_SLOW", false),
_acceleration_hor_max(this, "MPC_ACC_HOR_MAX", false),
_acceleration_hor_manual(this, "MPC_ACC_HOR_MAN", false),
_acceleration_z_max_up(this, "MPC_ACC_UP_MAX", false),
_acceleration_z_max_down(this, "MPC_ACC_DOWN_MAX", false),
_rc_flt_smp_rate(parent, "RC_FLT_SMP_RATE", false),
_rc_flt_cutoff(parent, "RC_FLT_CUTOFF", false),
_manual_direction_change_hysteresis(false),
_filter_roll_stick(50.0f, 10.0f),
_filter_pitch_stick(50.0f, 10.0f)
{
FlightTask::activate();
_manual_direction_change_hysteresis.set_hysteresis_time_from(false, DIRECTION_CHANGE_TIME_US);
_filter_roll_stick.set_cutoff_frequency(_rc_flt_smp_rate.get(), _rc_flt_cutoff.get());
_filter_pitch_stick.set_cutoff_frequency(_rc_flt_smp_rate.get(), _rc_flt_cutoff.get());
_hold_position = Vector3f(NAN, NAN, NAN);
return 0;
}
int FlightTaskManual::disable()
{
FlightTask::disable();
return 0;
}
};
int FlightTaskManual::update()
{
src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+3 -29
View File
@@ -50,36 +50,10 @@
class FlightTaskManual : public FlightTask
{
public:
FlightTaskManual(SuperBlock *parent, const char *name) :
FlightTask(parent, name),
_sub_manual_control_setpoint(ORB_ID(manual_control_setpoint), 0, 0, &getSubscriptions()),
_xy_vel_man_expo(parent, "MPC_XY_MAN_EXPO", false),
_z_vel_man_expo(parent, "MPC_Z_MAN_EXPO", false),
_hold_dz(parent, "MPC_HOLD_DZ", false),
_velocity_hor_manual(parent, "MPC_VEL_MANUAL", false),
_z_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
_z_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
_hold_max_xy(parent, "MPC_HOLD_MAX_XY", false),
_hold_max_z(parent, "MPC_HOLD_MAX_Z", false),
_jerk_hor_max(parent, "MPC_JERK_MAX", false),
_jerk_hor_min(parent, "MPC_JERK_MIN", false),
_deceleration_hor_slow(parent, "MPC_DEC_HOR_SLOW", false),
_acceleration_hor_max(this, "MPC_ACC_HOR_MAX", false),
_acceleration_hor_manual(this, "MPC_ACC_HOR_MAN", false),
_acceleration_z_max_up(this, "MPC_ACC_UP_MAX", false),
_acceleration_z_max_down(this, "MPC_ACC_DOWN_MAX", false),
_rc_flt_smp_rate(parent, "RC_FLT_SMP_RATE", false),
_rc_flt_cutoff(parent, "RC_FLT_CUTOFF", false),
_manual_direction_change_hysteresis(false),
_filter_roll_stick(50.0f, 10.0f),
_filter_pitch_stick(50.0f, 10.0f)
{
_manual_direction_change_hysteresis.set_hysteresis_time_from(false, DIRECTION_CHANGE_TIME_US);
};
virtual ~FlightTaskManual() {};
FlightTaskManual(SuperBlock *parent, const char *name);
virtual ~FlightTaskManual() = default;
int activate() override;
int disable() override;
int update() override;
protected:
src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
+2 -9
View File
@@ -45,21 +45,14 @@
using namespace matrix;
int FlightTaskOrbit::activate()
FlightTaskOrbit::FlightTaskOrbit(SuperBlock *parent, const char *name) :
FlightTaskManual(parent, name)
{
FlightTask::activate();
_r = 1.f;
_v = 0.5f;
_z = _position(2);
_center = Vector2f(_position.data());
_center(0) -= _r;
return 0;
}
int FlightTaskOrbit::disable()
{
FlightTask::disable();
return 0;
}
int FlightTaskOrbit::update()
src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
+3 -6
View File
@@ -46,13 +46,10 @@
class FlightTaskOrbit : public FlightTaskManual
{
public:
FlightTaskOrbit(SuperBlock *parent, const char *name) :
FlightTaskManual(parent, name)
{};
virtual ~FlightTaskOrbit() {};
FlightTaskOrbit(SuperBlock *parent, const char *name);
virtual ~FlightTaskOrbit() = default;
int activate() override;
int disable() override;
int update() override;
private: