Flight Tasks: CMake/folder restructure (no code change)

put flight tasks in separate folder and create a lib for each goal is to select tasks for targets (e.g. because of flash issue)
2026-10-16 20:13:34 +08:00 · 2018-08-08 13:44:49 +02:00
parent 9551dcb497
commit b68fd5e0a7
41 changed files with 550 additions and 30 deletions
@@ -0,0 +1,274 @@
+/****************************************************************************
+ *
+ *   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 FlightManualAltitude.cpp
+ */
+
+#include "FlightTaskManualAltitude.hpp"
+#include <float.h>
+#include <mathlib/mathlib.h>
+
+using namespace matrix;
+
+bool FlightTaskManualAltitude::updateInitialize()
+{
+	bool ret = FlightTaskManualStabilized::updateInitialize();
+	// in addition to stabilized require valid position and velocity in D-direction
+	return ret && PX4_ISFINITE(_position(2)) && PX4_ISFINITE(_velocity(2));
+}
+
+bool FlightTaskManualAltitude::activate()
+{
+	bool ret = FlightTaskManualStabilized::activate();
+	_thrust_setpoint(2) = NAN; // altitude is controlled from position/velocity
+	_position_setpoint(2) = _position(2);
+	_velocity_setpoint(2) = 0.0f;
+	_setDefaultConstraints();
+
+	if (PX4_ISFINITE(_sub_vehicle_local_position->get().hagl_min)) {
+		_constraints.min_distance_to_ground = _sub_vehicle_local_position->get().hagl_min;
+
+	} else {
+		_constraints.min_distance_to_ground = -INFINITY;
+	}
+
+	if (PX4_ISFINITE(_sub_vehicle_local_position->get().hagl_max)) {
+		_constraints.max_distance_to_ground = _sub_vehicle_local_position->get().hagl_max;
+
+	} else {
+		_constraints.max_distance_to_ground = INFINITY;
+	}
+
+	_max_speed_up = _constraints.speed_up;
+	_min_speed_down = _constraints.speed_down;
+
+	return ret;
+}
+
+void FlightTaskManualAltitude::_scaleSticks()
+{
+	// reuse same scaling as for stabilized
+	FlightTaskManualStabilized::_scaleSticks();
+
+	// scale horizontal velocity with expo curve stick input
+	const float vel_max_z = (_sticks(2) > 0.0f) ? _constraints.speed_down : _constraints.speed_up;
+	_velocity_setpoint(2) = vel_max_z * _sticks_expo(2);
+}
+
+void FlightTaskManualAltitude::_updateAltitudeLock()
+{
+	// Depending on stick inputs and velocity, position is locked.
+	// If not locked, altitude setpoint is set to NAN.
+
+	// Check if user wants to break
+	const bool apply_brake = fabsf(_velocity_setpoint(2)) <= FLT_EPSILON;
+
+	// Check if vehicle has stopped
+	const bool stopped = (MPC_HOLD_MAX_Z.get() < FLT_EPSILON || fabsf(_velocity(2)) < MPC_HOLD_MAX_Z.get());
+
+	// Manage transition between use of distance to ground and distance to local origin
+	// when terrain hold behaviour has been selected.
+	if (MPC_ALT_MODE.get() == 2) {
+		// Use horizontal speed as a transition criteria
+		float spd_xy = Vector2f(&_velocity(0)).length();
+
+		// Use presence of horizontal stick inputs as a transition criteria
+		float stick_xy = Vector2f(&_sticks_expo(0)).length();
+		bool stick_input = stick_xy > 0.001f;
+
+		if (_terrain_hold) {
+			bool too_fast = spd_xy > MPC_HOLD_MAX_XY.get();
+
+			if (stick_input || too_fast || !PX4_ISFINITE(_dist_to_bottom)) {
+				// Stop using distance to ground
+				_terrain_hold = false;
+				_terrain_follow = false;
+
+				// Adjust the setpoint to maintain the same height error to reduce control transients
+				if (PX4_ISFINITE(_dist_to_ground_lock) && PX4_ISFINITE(_dist_to_bottom)) {
+					_position_setpoint(2) = _position(2) + (_dist_to_ground_lock - _dist_to_bottom);
+
+				} else {
+					_position_setpoint(2) = _position(2);
+				}
+			}
+
+		} else {
+			bool not_moving = spd_xy < 0.5f * MPC_HOLD_MAX_XY.get();
+
+			if (!stick_input && not_moving && PX4_ISFINITE(_dist_to_bottom)) {
+				// Start using distance to ground
+				_terrain_hold = true;
+				_terrain_follow = true;
+
+				// Adjust the setpoint to maintain the same height error to reduce control transients
+				if (PX4_ISFINITE(_position_setpoint(2))) {
+					_dist_to_ground_lock = _dist_to_bottom + (_position_setpoint(2) - _position(2));
+				}
+			}
+		}
+
+	}
+
+	if ((MPC_ALT_MODE.get() == 1 || _terrain_follow) && PX4_ISFINITE(_dist_to_bottom)) {
+		// terrain following
+		_terrainFollowing(apply_brake, stopped);
+		// respect maximum altitude
+		_respectMaxAltitude();
+
+	} else {
+		// normal mode where height is dependent on local frame
+
+		if (apply_brake && stopped && !PX4_ISFINITE(_position_setpoint(2))) {
+			// lock position
+			_position_setpoint(2) = _position(2);
+
+			// Ensure that minimum altitude is respected if
+			// there is a distance sensor and distance to bottom is below minimum.
+			if (PX4_ISFINITE(_dist_to_bottom) && _dist_to_bottom < _constraints.min_distance_to_ground) {
+				_terrainFollowing(apply_brake, stopped);
+
+			} else {
+				_dist_to_ground_lock = NAN;
+			}
+
+		} else if (PX4_ISFINITE(_position_setpoint(2)) && apply_brake) {
+			// Position is locked but check if a reset event has happened.
+			// We will shift the setpoints.
+			if (_sub_vehicle_local_position->get().z_reset_counter != _reset_counter) {
+				_position_setpoint(2) = _position(2);
+				_reset_counter = _sub_vehicle_local_position->get().z_reset_counter;
+			}
+
+		} else  {
+			// user demands velocity change
+			_position_setpoint(2) = NAN;
+			// ensure that maximum altitude is respected
+			_respectMaxAltitude();
+		}
+	}
+}
+
+void FlightTaskManualAltitude::_respectMinAltitude()
+{
+	const bool respectAlt = PX4_ISFINITE(_dist_to_bottom)
+				&& _dist_to_bottom < _constraints.min_distance_to_ground;
+
+	// Height above ground needs to be limited (flow / range-finder)
+	if (respectAlt) {
+		// increase altitude to minimum flow distance
+		_position_setpoint(2) = _position(2)
+					- (_constraints.min_distance_to_ground - _dist_to_bottom);
+	}
+}
+
+void FlightTaskManualAltitude::_terrainFollowing(bool apply_brake, bool stopped)
+{
+	if (apply_brake && stopped && !PX4_ISFINITE(_dist_to_ground_lock)) {
+		// User wants to break and vehicle reached zero velocity. Lock height to ground.
+
+		// lock position
+		_position_setpoint(2) = _position(2);
+		// ensure that minimum altitude is respected
+		_respectMinAltitude();
+		// lock distance to ground but adjust first for minimum altitude
+		_dist_to_ground_lock = _dist_to_bottom - (_position_setpoint(2) - _position(2));
+
+	} else if (apply_brake && PX4_ISFINITE(_dist_to_ground_lock)) {
+		// vehicle needs to follow terrain
+
+		// difference between the current distance to ground and the desired distance to ground
+		const float delta_distance_to_ground = _dist_to_ground_lock - _dist_to_bottom;
+		// adjust position setpoint for the delta (note: NED frame)
+		_position_setpoint(2) = _position(2) - delta_distance_to_ground;
+
+	} else {
+		// user demands velocity change in D-direction
+		_dist_to_ground_lock = _position_setpoint(2) = NAN;
+	}
+}
+
+void FlightTaskManualAltitude::_respectMaxAltitude()
+{
+	if (PX4_ISFINITE(_dist_to_bottom)) {
+
+		// if there is a valid maximum distance to ground, linearly increase speed limit with distance
+		// below the maximum, preserving control loop vertical position error gain.
+		if (PX4_ISFINITE(_constraints.max_distance_to_ground)) {
+			_constraints.speed_up = math::constrain(MPC_Z_P.get() * (_constraints.max_distance_to_ground - _dist_to_bottom),
+								-_min_speed_down, _max_speed_up);
+
+		} else {
+			_constraints.speed_up = _max_speed_up;
+		}
+
+		// if distance to bottom exceeded maximum distance, slowly approach maximum distance
+		if (_dist_to_bottom >  _constraints.max_distance_to_ground) {
+			// difference between current distance to ground and maximum distance to ground
+			const float delta_distance_to_max = _dist_to_bottom - _constraints.max_distance_to_ground;
+			// set position setpoint to maximum distance to ground
+			_position_setpoint(2) = _position(2) +  delta_distance_to_max;
+			// limit speed downwards to 0.7m/s
+			_constraints.speed_down = math::min(_min_speed_down, 0.7f);
+
+		} else {
+			_constraints.speed_down = _min_speed_down;
+
+		}
+	}
+}
+
+void FlightTaskManualAltitude::_updateSetpoints()
+{
+	FlightTaskManualStabilized::_updateSetpoints(); // get yaw and thrust setpoints
+
+	_thrust_setpoint *= NAN; // Don't need thrust setpoint from Stabilized mode.
+
+	// Thrust in xy are extracted directly from stick inputs. A magnitude of
+	// 1 means that maximum thrust along xy is demanded. A magnitude of 0 means no
+	// thrust along xy is demanded. The maximum thrust along xy depends on the thrust
+	// setpoint along z-direction, which is computed in PositionControl.cpp.
+
+	Vector2f sp{_sticks(0), _sticks(1)};
+	_rotateIntoHeadingFrame(sp);
+
+	if (sp.length() > 1.0f) {
+		sp.normalize();
+	}
+
+	_thrust_setpoint(0) = sp(0);
+	_thrust_setpoint(1) = sp(1);
+
+	_updateAltitudeLock();
+}