mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 01:20:34 +08:00
Beat Küng
93 lines
3.3 KiB
C++
93 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file FlightTaskManual.cpp
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*/
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#include "FlightTaskManual.hpp"
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#include <mathlib/mathlib.h>
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#include <float.h>
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using namespace matrix;
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bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_array)
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{
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if (!FlightTask::initializeSubscriptions(subscription_array)) {
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return false;
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}
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if (!subscription_array.get(ORB_ID(manual_control_setpoint), _sub_manual_control_setpoint)) {
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return false;
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}
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return true;
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}
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bool FlightTaskManual::updateInitialize()
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{
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bool ret = FlightTask::updateInitialize();
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const bool sticks_available = _evaluateSticks();
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if (_sticks_data_required) {
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ret = ret && sticks_available;
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}
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return ret;
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}
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bool FlightTaskManual::_evaluateSticks()
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{
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/* Sticks are rescaled linearly and exponentially to [-1,1] */
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if ((_time_stamp_current - _sub_manual_control_setpoint->get().timestamp) < _timeout) {
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/* Linear scale */
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_sticks(0) = _sub_manual_control_setpoint->get().x; /* NED x, "pitch" [-1,1] */
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_sticks(1) = _sub_manual_control_setpoint->get().y; /* NED y, "roll" [-1,1] */
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_sticks(2) = -(_sub_manual_control_setpoint->get().z - 0.5f) * 2.f; /* NED z, "thrust" resacaled from [0,1] to [-1,1] */
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_sticks(3) = _sub_manual_control_setpoint->get().r; /* "yaw" [-1,1] */
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/* Exponential scale */
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_sticks_expo(0) = math::expo_deadzone(_sticks(0), _xy_vel_man_expo.get(), _stick_dz.get());
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_sticks_expo(1) = math::expo_deadzone(_sticks(1), _xy_vel_man_expo.get(), _stick_dz.get());
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_sticks_expo(2) = math::expo_deadzone(_sticks(2), _z_vel_man_expo.get(), _stick_dz.get());
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return true;
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} else {
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/* Timeout: set all sticks to zero */
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_sticks.zero();
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_sticks_expo.zero();
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return false;
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}
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}
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