mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-06 22:50:36 +08:00
Beat Küng
76 lines
2.8 KiB
C++
76 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 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 FlightTaskSport.hpp
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*
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* Manual controlled position with maximum speed and no smoothing.
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*/
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#pragma once
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#include "FlightTaskManualPosition.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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class FlightTaskSport : public FlightTaskManualPosition
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{
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public:
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FlightTaskSport() = default;
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virtual ~FlightTaskSport() = default;
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protected:
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void _updateSetpoints() override
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{
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FlightTaskManualPosition::_updateSetpoints(); // get all setpoints from position task
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/* Scale horizontal velocity setpoint by maximum allowed velocity. */
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if (PX4_ISFINITE(_velocity_setpoint(0)) && Vector2f(&_velocity_setpoint(0)).length() > 0.0f) {
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Vector2f vel_sp_xy = Vector2f(&_velocity_setpoint(0));
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vel_sp_xy = vel_sp_xy.normalized() * _vel_xy_max.get() / _vel_xy_manual_max.get() * vel_sp_xy.length();
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_velocity_setpoint(0) = vel_sp_xy(0);
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_velocity_setpoint(1) = vel_sp_xy(1);
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}
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}
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private:
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
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(ParamFloat<px4::params::MPC_XY_VEL_MAX>)
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_vel_xy_max /**< maximal allowed horizontal speed, in sport mode full stick input*/
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)
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};
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