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

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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)
This commit is contained in:
ChristophTobler
2018-07-26 09:24:26 +02:00
committed by Dennis Mannhart
parent 9551dcb497
commit b68fd5e0a7
41 changed files with 550 additions and 30 deletions
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src/lib/FlightTasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.cpp
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/****************************************************************************
*
* Copyright (c) 2017 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 FlightManualPositionSmooth.cpp
*/
#include "FlightTaskManualPositionSmooth.hpp"
using namespace matrix;
FlightTaskManualPositionSmooth::FlightTaskManualPositionSmooth() :
_smoothingXY(this, matrix::Vector2f(&_velocity(0))),
_smoothingZ(this, _velocity(2), _sticks(2))
{}
void FlightTaskManualPositionSmooth::_updateSetpoints()
{
/* Get yaw setpont, un-smoothed position setpoints.*/
FlightTaskManualPosition::_updateSetpoints();
/* Smooth velocity setpoint in xy.*/
matrix::Vector2f vel(&_velocity(0));
Vector2f vel_sp_xy = Vector2f(&_velocity_setpoint(0));
_smoothingXY.updateMaxVelocity(_constraints.speed_xy);
_smoothingXY.smoothVelocity(vel_sp_xy, vel, _yaw, _yawspeed_setpoint, _deltatime);
_velocity_setpoint(0) = vel_sp_xy(0);
_velocity_setpoint(1) = vel_sp_xy(1);
/* Check for altitude lock.*/
_updateXYlock();
/* Smooth velocity in z.*/
_smoothingZ.smoothVelFromSticks(_velocity_setpoint(2), _deltatime);
/* Check for altitude lock*/
_updateAltitudeLock();
}