ManualSmoothing: new class for smoothing setpoints generated from sticks

src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp

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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 SmoothingZ.hpp
+ *
+ * This Class is used for smoothing the velocity setpoints in Z-direction.
+ */
+
+#pragma once
+
+#include <systemlib/param/param.h>
+
+
+class ManualSmoothingZ
+{
+public:
+	ManualSmoothingZ(const float &vel, const float &stick);
+	~ManualSmoothingZ();
+
+	void smoothVelFromSticks(float vel_sp[2], const float dt);
+
+
+
+
+private:
+
+	enum class Intention {
+		brake,
+		acceleration,
+	};
+	Intention _intention{Intention::brake};
+
+	const float &_vel;
+	const float &_stick;
+
+	param_t _acc_max_up_h{PARAM_INVALID};
+	param_t _acc_max_down_h{PARAM_INVALID};
+	param_t _jerk_max_h{PARAM_INVALID};
+	float _acc_max_up{0.0f};
+	float _acc_max_down{0.0f};
+	float _jerk_max{10000.0f};
+	float _acc_state_dependent{0.0f};
+	int _parameter_sub{-1};
+
+
+	void velocitySlewRate(float vel_sp[2], const float dt);
+	void updateParams();
+	void updateAcceleration(float &vel_sp_prev, const float dt);
+	void setParams();
+	float getMaxAcceleration();
+};