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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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bresch
1414f50cea
This is done to allow proper initialization of the new FlightTask and give it a chance to continue the setpoints without discontinuity. The function checkSetpoints replaces the setpoints containing NANs with an estimate of the state. The estimate is usually the current estimate of the EKF or zero. The transition FlightTask also provides an estimate of the current acceleration to properly initialize the next FlightTask after back-transition. This avoid having to initialize the accelerations to zero knowing that the actual acceleration is usually far from zero.
84 lines
3.1 KiB
C++
84 lines
3.1 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 FlightTaskTranstion.cpp
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*/
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#include "FlightTaskTransition.hpp"
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bool FlightTaskTransition::updateInitialize()
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{
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return FlightTask::updateInitialize();
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}
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bool FlightTaskTransition::activate(vehicle_local_position_setpoint_s state_prev)
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{
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checkSetpoints(state_prev);
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_transition_altitude = state_prev.z;
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_transition_yaw = state_prev.yaw;
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_acceleration_setpoint.setAll(0.f);
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_velocity_prev = _velocity;
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return FlightTask::activate(state_prev);
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}
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void FlightTaskTransition::updateAccelerationEstimate()
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{
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// Estimate the acceleration by filtering the raw derivative of the velocity estimate
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// This is done to provide a good estimate of the current acceleration to the next flight task after back-transition
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_acceleration_setpoint = 0.9f * _acceleration_setpoint + 0.1f * (_velocity - _velocity_prev) / _deltatime;
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if (!PX4_ISFINITE(_acceleration_setpoint(0)) ||
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!PX4_ISFINITE(_acceleration_setpoint(1)) ||
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!PX4_ISFINITE(_acceleration_setpoint(2))) {
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_acceleration_setpoint.setAll(0.f);
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}
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_velocity_prev = _velocity;
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}
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bool FlightTaskTransition::update()
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{
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// level wings during the transition, altitude should be controlled
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_thrust_setpoint(0) = _thrust_setpoint(1) = 0.0f;
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_thrust_setpoint(2) = NAN;
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_position_setpoint *= NAN;
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_velocity_setpoint *= NAN;
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_position_setpoint(2) = _transition_altitude;
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updateAccelerationEstimate();
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_yaw_setpoint = _transition_yaw;
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return true;
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}
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