FlightTasks: move method definitions of existing tasks into cpp files, it's not a header library

2026-07-02 07:20:34 +08:00 · 2017-11-07 19:36:35 +01:00
parent 3450ccb2b2
commit c211c807ad
5 changed files with 531 additions and 453 deletions
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   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 FlightTaskManual.hpp
+ *
+ * Flight task for the normal, legacy, manual position controlled flight
+ * where stick inputs map basically to the velocity setpoint
+ *
+ * @author Matthias Grob <maetugr@gmail.com>
+ */
+
+#include "FlightTaskOrbit.hpp"
+
+using namespace matrix;
+
+int FlightTaskOrbit::activate()
+{
+	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()
+{
+	int ret = FlightTaskManual::update();
+
+	r += _sticks(0) * _deltatime;
+	r = math::constrain(r, 1.f, 20.f);
+	v -= _sticks(1) * _deltatime;
+	v = math::constrain(v, -7.f, 7.f);
+	z += _sticks(2) * _deltatime;
+
+	Vector2f center_to_position = Vector2f(_position.data()) - _center;
+
+	/* xy velocity to go around in a circle */
+	Vector2f velocity_xy = Vector2f(center_to_position(1), -center_to_position(0));
+	velocity_xy = velocity_xy.unit_or_zero();
+	velocity_xy *= v;
+
+	/* xy velocity adjustment to stay on the radius distance */
+	velocity_xy += (r - center_to_position.norm()) * center_to_position.unit_or_zero();
+
+	float yaw = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
+
+	_set_position_setpoint(Vector3f(NAN, NAN, z));
+	_set_velocity_setpoint(Vector3f(velocity_xy(0), velocity_xy(1), 0.f));
+	_set_yaw_setpoint(yaw);
+	return ret;
+}