FlightTaskManualStabilized: this task will geerate thrust and yaw setpoints.

Thrust is not yet supported

src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp

@@ -0,0 +1,106 @@
+/****************************************************************************
+ *
+ *   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 FlightManualStabilized.cpp
+ *
+ * Flight task for manual controlled attitude.
+ * It generates thrust and yaw setpoints.
+ * TODO: add thrust
+ */
+
+#include "FlightTaskManualStabilized.hpp"
+#include <mathlib/mathlib.h>
+#include <float.h>
+#include <lib/geo/geo.h>
+
+using namespace matrix;
+
+FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *parent, const char *name) :
+	FlightTaskManual(parent, name),
+	_yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false)
+{}
+
+bool FlightTaskManualStabilized::activate()
+{
+	_yaw_sp = _yaw;
+	_yaw_rate_sp = 0.0f;
+	_sign_speed = 1.0f;
+	return FlightTaskManual::activate();
+}
+
+void FlightTaskManualStabilized::_scaleSticks()
+{
+	/* Scale sticks to yaw and thrust using
+	 * linear scale.
+	 * TODO: add thrust */
+	_yaw_rate_sp = _sticks(3) * math::radians(_yaw_rate_scaling.get());
+}
+
+void FlightTaskManualStabilized::_updateHeadingSetpoints()
+{
+	/* Yaw-lock depends on stick input. If locked,
+	 * yawspeed_sp is set to NAN. Otherwise yaw_sp is set
+	 * to NAN.*/
+	const bool stick_yaw_zero = fabsf(_sticks(3)) <= _stick_dz.get();
+
+	if (stick_yaw_zero && !PX4_ISFINITE(_yaw_sp)) {
+		_yaw_sp = _wrap_pi(_yaw + _sign_speed * _yaw_rate_scaling.get() * _deltatime);
+
+	} else if (!stick_yaw_zero) {
+		_yaw_sp = NAN;
+		_sign_speed = math::sign(_yaw_rate_sp);
+	}
+}
+
+void FlightTaskManualStabilized::_updateThrustSetpoints()
+{
+	// TODO
+}
+
+void FlightTaskManualStabilized::_updateSetpoints()
+{
+	_updateHeadingSetpoints();
+	//_updateThrustSetpoints();
+}
+
+bool FlightTaskManualStabilized::update()
+{
+	_scaleSticks(); // scales sticks linearly to yaw/yawspeed and thrust
+	_updateSetpoints(); // applies yaw and position lock if required
+	_setYawSetpoint(_yaw_sp);
+	_setYawspeedSetpoint(_yaw_rate_sp);
+	//_setThrustSetpoint(...) TODO
+
+	return true;
+}

src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   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 FlightManualStabilized.hpp
+ *
+ * Flight task for manual controlled attitude.
+ * It generates thrust and yaw setpoints.
+ * TODO: add thrust
+ */
+
+#pragma once
+
+#include "FlightTaskManual.hpp"
+
+class FlightTaskManualStabilized : public FlightTaskManual
+{
+public:
+	FlightTaskManualStabilized(control::SuperBlock *parent, const char *name);
+
+	virtual ~FlightTaskManualStabilized() = default;
+
+	bool activate() override;
+
+	bool update() override;
+
+protected:
+	float _yaw_rate_sp{}; /**< Scaled yaw rate from stick. NAN if yaw is locked. */
+	float _yaw_sp{}; /**< Yaw setpoint once locked. Otherwise NAN. */
+
+	virtual void _updateSetpoints(); /**< Updates all setpoints. */
+	virtual void _scaleSticks(); /**< Scales sticks to yaw and thrust. */
+
+private:
+	float _sign_speed{};
+	void _updateHeadingSetpoints(); /**< Sets yaw or yaw speed. */
+	void _updateThrustSetpoints(); /**< Sets thrust setpoint */
+
+	control::BlockParamFloat _yaw_rate_scaling; /**< Scaling factor from stick to yaw rate. */
+
+};