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FlightTaskManual: remove everything except of stick mapping

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This commit is contained in:
Dennis Mannhart
2017-12-08 19:41:07 +01:00
committed by Beat Küng
parent 2b6e356c91
commit e076825d78
2 changed files with 17 additions and 78 deletions
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src/lib/FlightTasks/tasks/FlightTaskManual.cpp
+12 -60
View File
@@ -41,8 +41,8 @@
*/
#include "FlightTaskManual.hpp"
#include <float.h>
#include <mathlib/mathlib.h>
#include <float.h>
using namespace matrix;
@@ -52,12 +52,9 @@ FlightTaskManual::FlightTaskManual(control::SuperBlock *parent, const char *name
_z_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
_xy_vel_man_expo(parent, "MPC_XY_MAN_EXPO", false),
_z_vel_man_expo(parent, "MPC_Z_MAN_EXPO", false),
_hold_dz(parent, "MPC_HOLD_DZ", false),
_velocity_hor_manual(parent, "MPC_VEL_MANUAL", false),
_hold_max_xy(parent, "MPC_HOLD_MAX_XY", false),
_hold_max_z(parent, "MPC_HOLD_MAX_Z", false),
_man_yaw_max(parent, "MPC_MAN_Y_MAX", false)
{ }
_hold_dz(parent, "MPC_HOLD_DZ", false)
{
}
bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_array)
{
@@ -94,54 +91,10 @@ bool FlightTaskManual::updateInitialize()
bool FlightTaskManual::update()
{
/* prepare stick input */
Vector2f stick_xy(_sticks.data()); /**< horizontal two dimensional stick input within a unit circle */
float &stick_z = _sticks(2);
const float stick_xy_norm = stick_xy.norm();
/* saturate such that magnitude in xy is never larger than 1 */
if (stick_xy_norm > 1.0f) {
stick_xy /= stick_xy_norm;
}
/* rotate stick input to produce velocity setpoint in NED frame */
Vector3f velocity_setpoint(stick_xy(0), stick_xy(1), stick_z);
velocity_setpoint = Dcmf(Eulerf(0.0f, 0.0f, _get_input_frame_yaw())) * velocity_setpoint;
/* scale [0,1] length velocity vector to maximal manual speed (in m/s) */
_scaleVelocity(velocity_setpoint);
/* smooth out velocity setpoint by slewrate and return it */
_setVelocitySetpoint(velocity_setpoint);
/* handle position and altitude hold */
const bool stick_xy_zero = stick_xy_norm <= FLT_EPSILON;
const bool stick_z_zero = fabsf(stick_z) <= FLT_EPSILON;
float velocity_xy_norm = Vector2f(_velocity.data()).norm();
const bool stopped_xy = (_hold_max_xy.get() < FLT_EPSILON || velocity_xy_norm < _hold_max_xy.get());
const bool stopped_z = (_hold_max_z.get() < FLT_EPSILON || fabsf(_velocity(2)) < _hold_max_z.get());
if (stick_xy_zero && stopped_xy && !PX4_ISFINITE(_hold_position(0))) {
_hold_position(0) = _position(0);
_hold_position(1) = _position(1);
} else if (!stick_xy_zero) {
_hold_position(0) = NAN;
_hold_position(1) = NAN;
}
if (stick_z_zero && stopped_z && !PX4_ISFINITE(_hold_position(2))) {
_hold_position(2) = _position(2);
} else if (!stick_z_zero) {
_hold_position(2) = NAN;
}
_setPositionSetpoint(_hold_position);
_updateYaw();
/* TODO
* FlightTask setpoint interface and Position Controller need to be updated to include
* thrust setpoint. With thrust setpoint FlightTaskManual can be used as manual flight mode.
*/
return true;
}
@@ -191,16 +144,15 @@ bool FlightTaskManual::_evaluateSticks()
_sticks(2) = -(_sub_manual_control_setpoint->get().z - 0.5f) * 2.f; /* NED z, "thrust" resacaled from [0,1] to [-1,1] */
_sticks(3) = _sub_manual_control_setpoint->get().r; /* "yaw" [-1,1] */
/* apply expo and deadzone */
_sticks(0) = math::expo_deadzone(_sticks(0), _xy_vel_man_expo.get(), _hold_dz.get());
_sticks(1) = math::expo_deadzone(_sticks(1), _xy_vel_man_expo.get(), _hold_dz.get());
_sticks(2) = math::expo_deadzone(_sticks(2), _z_vel_man_expo.get(), _hold_dz.get());
_sticks(3) = math::deadzone(_sticks(3), _hold_dz.get());
_sticks_expo(0) = math::expo_deadzone(_sticks(0), _xy_vel_man_expo.get(), _hold_dz.get());
_sticks_expo(1) = math::expo_deadzone(_sticks(1), _xy_vel_man_expo.get(), _hold_dz.get());
_sticks_expo(2) = math::expo_deadzone(_sticks(2), _z_vel_man_expo.get(), _hold_dz.get());
return true;
} else {
_sticks.zero(); /* default is all zero */
_sticks_expo.zero();
return false;
}
}
src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+5 -18
View File
@@ -63,32 +63,19 @@ public:
bool update() override;
protected:
matrix::Vector<float, 4> _sticks;
bool _evaluateSticks();
bool _sticks_data_required = true; /**< let sibling task define if it depends on stick data */
float _get_input_frame_yaw();
virtual void _scaleVelocity(matrix::Vector3f &velocity);
control::BlockParamFloat _z_vel_max_up; /**< maximal vertical velocity when flying upwards with the stick */
control::BlockParamFloat _z_vel_max_down; /**< maximal vertical velocity when flying downwards with the stick */
matrix::Vector<float, 4> _sticks; /**< unmodified manual stick inputs */
matrix::Vector3f _sticks_expo; /**< modified manual sticks using expo function*/
private:
uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
control::BlockParamFloat _xy_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction pos mode */
control::BlockParamFloat _z_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction pos mode */
control::BlockParamFloat _hold_dz; /**< deadzone around the center for the sticks when flying in position mode */
control::BlockParamFloat _velocity_hor_manual; /**< target velocity in manual controlled mode at full speed */
control::BlockParamFloat _hold_max_xy; /**< velocity threshold to switch into horizontal position hold */
control::BlockParamFloat _hold_max_z; /**< velocity threshold to switch into vertical position hold */
control::BlockParamFloat _man_yaw_max; /**< maximal rotation speed around yaw axis with full stick input */
matrix::Vector3f _hold_position; /**< position at which the vehicle stays while the input is zero velocity */
float _hold_yaw = 0.f; /**< absolute yaw which gets updated by the yawspeed input */
void _updateYaw();
bool _evaluate_sticks();
bool _evaluateSticks(); /**< checks and sets stick inputs */
};