Add FlightModeManager

to separate out setpoint generation from controllers

src/modules/flight_mode_manager/Takeoff/Takeoff.hpp

@@ -0,0 +1,101 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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 Takeoff.hpp
+ *
+ * A class handling all takeoff states and a smooth ramp up of the motors.
+ */
+
+#pragma once
+
+#include <lib/hysteresis/hysteresis.h>
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+enum class TakeoffState {
+	disarmed = 0,
+	spoolup,
+	ready_for_takeoff,
+	rampup,
+	flight
+};
+
+class Takeoff
+{
+public:
+	Takeoff() = default;
+	~Takeoff() = default;
+
+	// initialize parameters
+	void setSpoolupTime(const float seconds) { _spoolup_time_hysteresis.set_hysteresis_time_from(false, seconds * 1_s); }
+	void setTakeoffRampTime(const float seconds) { _takeoff_ramp_time = seconds; }
+
+	/**
+	 * Calculate a vertical velocity to initialize the takeoff ramp
+	 * that when passed to the velocity controller results in a zero throttle setpoint.
+	 * @param hover_thrust normalized thrsut value with which the vehicle hovers
+	 * @param velocity_p_gain proportional gain of the velocity controller to calculate the thrust
+	 */
+	void generateInitialRampValue(const float velocity_p_gain);
+
+	/**
+	 * Update the state for the takeoff.
+	 * @param setpoint a vehicle_local_position_setpoint_s structure
+	 * @return true if setpoint has updated correctly
+	 */
+	void updateTakeoffState(const bool armed, const bool landed, const bool want_takeoff,
+				const float takeoff_desired_vz, const bool skip_takeoff, const hrt_abstime &now_us);
+
+	/**
+	 * Update and return the velocity constraint ramp value during takeoff.
+	 * By ramping up _takeoff_ramp_vz during the takeoff and using it to constain the maximum climb rate a smooth takeoff behavior is achieved.
+	 * Returns zero on the ground and takeoff_desired_vz in flight.
+	 * @param dt time in seconds since the last call/loop iteration
+	 * @param takeoff_desired_vz end value for the velocity ramp
+	 * @return true if setpoint has updated correctly
+	 */
+	float updateRamp(const float dt, const float takeoff_desired_vz);
+
+	TakeoffState getTakeoffState() { return _takeoff_state; }
+
+private:
+	TakeoffState _takeoff_state = TakeoffState::disarmed;
+
+	systemlib::Hysteresis _spoolup_time_hysteresis{false}; /**< becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed */
+
+	float _takeoff_ramp_time = 0.f;
+	float _takeoff_ramp_vz_init = 0.f;
+	float _takeoff_ramp_vz = 0.f;
+};