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Remove FlightTaskAutoMapper, merged into AutoLineSmoothVel

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This commit is contained in:
Matthias Grob 2021-11-10 21:54:23 +01:00
parent a94c61b896
commit dbacdedad1
8 changed files with 9 additions and 138 deletions
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8
src/lib/avoidance/ObstacleAvoidanceTest.cpp
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@ -68,7 +68,7 @@ TEST_F(ObstacleAvoidanceTest, instantiation) { ObstacleAvoidance oa(nullptr); }
TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy)
{
// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message coming
// GIVEN: the flight controller setpoints from FlightTaskAuto and a vehicle_trajectory_waypoint message coming
// from offboard
TestObstacleAvoidance oa;
@ -104,7 +104,7 @@ TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy)
TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy_bezier)
{
// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message coming
// GIVEN: the flight controller setpoints from FlightTaskAuto and a vehicle_trajectory_waypoint message coming
// from offboard
TestObstacleAvoidance oa;
@ -147,7 +147,7 @@ TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy_bezier)
TEST_F(ObstacleAvoidanceTest, oa_enabled_not_healthy)
{
// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and a vehicle_trajectory_waypoint message
// GIVEN: the flight controller setpoints from FlightTaskAuto and a vehicle_trajectory_waypoint message
TestObstacleAvoidance oa;
vehicle_trajectory_waypoint_s message = empty_trajectory_waypoint;
@ -177,7 +177,7 @@ TEST_F(ObstacleAvoidanceTest, oa_enabled_not_healthy)
TEST_F(ObstacleAvoidanceTest, oa_desired)
{
// GIVEN: the flight controller setpoints from FlightTaskAutoMapper and the waypoints from FLightTaskAuto
// GIVEN: the flight controller setpoints from FlightTaskAuto and the waypoints from FLightTaskAuto
TestObstacleAvoidance oa;
pos_sp = Vector3f(1.f, 1.2f, NAN);

2
src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/CMakeLists.txt
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@ -35,5 +35,5 @@ px4_add_library(FlightTaskAutoLineSmoothVel
FlightTaskAutoLineSmoothVel.cpp
)
target_link_libraries(FlightTaskAutoLineSmoothVel PUBLIC FlightTaskAutoMapper FlightTaskUtility)
target_link_libraries(FlightTaskAutoLineSmoothVel PUBLIC FlightTaskAuto FlightTaskUtility)
target_include_directories(FlightTaskAutoLineSmoothVel PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

4
src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
View File

@ -79,7 +79,7 @@ bool FlightTaskAutoLineSmoothVel::activate(const vehicle_local_position_setpoint
void FlightTaskAutoLineSmoothVel::reActivate()
{
FlightTaskAutoMapper::reActivate();
FlightTaskAuto::reActivate();
// On ground, reset acceleration and velocity to zero
_position_smoothing.reset({0.f, 0.f, 0.f}, {0.f, 0.f, 0.7f}, _position);
@ -298,7 +298,7 @@ void FlightTaskAutoLineSmoothVel::_updateTrajConstraints()
// The constraints are broken because they are used as hard limits by the position controller, so put this here
// until the constraints don't do things like cause controller integrators to saturate. Once the controller
// doesn't use z speed constraints, this can go in AutoMapper::_prepareTakeoffSetpoints(). Accel limit is to
// doesn't use z speed constraints, this can go in _prepareTakeoffSetpoints(). Accel limit is to
// emulate the motor ramp (also done in the controller) so that the controller can actually track the setpoint.
if (_type == WaypointType::takeoff && _dist_to_ground < _param_mpc_land_alt1.get()) {
z_vel_constraint = _param_mpc_tko_speed.get();

4
src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
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@ -40,13 +40,13 @@
#pragma once
#include "FlightTaskAutoMapper.hpp"
#include "FlightTaskAuto.hpp"
#include <motion_planning/PositionSmoothing.hpp>
#include "Sticks.hpp"
#include "StickAccelerationXY.hpp"
#include "StickYaw.hpp"
class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper
class FlightTaskAutoLineSmoothVel : public FlightTaskAuto
{
public:
FlightTaskAutoLineSmoothVel();

39
src/modules/flight_mode_manager/tasks/AutoMapper/CMakeLists.txt
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@ -1,39 +0,0 @@
############################################################################
#
# 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.
#
############################################################################
px4_add_library(FlightTaskAutoMapper
FlightTaskAutoMapper.cpp
)
target_link_libraries(FlightTaskAutoMapper PUBLIC FlightTaskAuto)
target_include_directories(FlightTaskAutoMapper PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

38
src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.cpp
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@ -1,38 +0,0 @@
/****************************************************************************
*
* 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 FlightAutoMapper.cpp
*/
#include "FlightTaskAutoMapper.hpp"

51
src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.hpp
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@ -1,51 +0,0 @@
/****************************************************************************
*
* 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 FlightTaskAutoMapper.hpp
*
* Abstract Flight task which generates local setpoints
* based on the triplet type.
*/
#pragma once
#include "FlightTaskAuto.hpp"
class FlightTaskAutoMapper : public FlightTaskAuto
{
public:
FlightTaskAutoMapper() = default;
virtual ~FlightTaskAutoMapper() = default;
};

1
src/modules/flight_mode_manager/tasks/CMakeLists.txt
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@ -35,7 +35,6 @@
add_subdirectory(FlightTask)
add_subdirectory(Utility)
add_subdirectory(Auto)
add_subdirectory(AutoMapper)
# add all additional flight tasks
foreach(task ${flight_tasks_all})