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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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RomanBapst
122 lines
4.2 KiB
C++
122 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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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#include "ManualVelocitySmoothingXY.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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void ManualVelocitySmoothingXY::reset(const Vector2f &accel, const Vector2f &vel, const Vector2f &pos)
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{
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for (int i = 0; i < 2; i++) {
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_trajectory[i].reset(accel(i), vel(i), pos(i));
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}
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resetPositionLock();
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}
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void ManualVelocitySmoothingXY::resetPositionLock()
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{
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_position_lock_active = false;
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_position_setpoint_locked(0) = NAN;
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_position_setpoint_locked(1) = NAN;
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}
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void ManualVelocitySmoothingXY::update(float dt, const Vector2f &velocity_target)
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{
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// Update state
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updateTrajectories(dt);
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// Lock or unlock position
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// Has to be done before _updateTrajDurations()
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checkPositionLock(velocity_target);
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// Update durations and sync XY
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updateTrajDurations(velocity_target);
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}
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void ManualVelocitySmoothingXY::updateTrajectories(float dt)
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{
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for (int i = 0; i < 2; ++i) {
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_trajectory[i].updateTraj(dt);
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_state.j(i) = _trajectory[i].getCurrentJerk();
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_state.a(i) = _trajectory[i].getCurrentAcceleration();
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_state.v(i) = _trajectory[i].getCurrentVelocity();
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_state.x(i) = _trajectory[i].getCurrentPosition();
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}
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}
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void ManualVelocitySmoothingXY::updateTrajDurations(const Vector2f &velocity_target)
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{
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for (int i = 0; i < 2; ++i) {
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_trajectory[i].updateDurations(velocity_target(i));
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}
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VelocitySmoothing::timeSynchronization(_trajectory, 2);
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}
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void ManualVelocitySmoothingXY::checkPositionLock(const Vector2f &velocity_target)
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{
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/**
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* During a position lock -> position unlock transition, we have to make sure that the velocity setpoint
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* is continuous. We know that the output of the position loop (part of the velocity setpoint)
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* will suddenly become null
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* and only the feedforward (generated by this flight task) will remain.
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* This is why the previous input of the velocity controller
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* is used to set current velocity of the trajectory.
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*/
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if (_state.v.length() < 0.1f &&
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_state.a.length() < .2f &&
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velocity_target.length() <= FLT_EPSILON) {
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// Lock position
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_position_lock_active = true;
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_position_setpoint_locked = _state.x;
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} else {
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// Unlock position
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if (_position_lock_active) {
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// Start the trajectory at the current velocity setpoint
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_trajectory[0].setCurrentVelocity(_velocity_setpoint_feedback(0));
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_trajectory[1].setCurrentVelocity(_velocity_setpoint_feedback(1));
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_state.v = _velocity_setpoint_feedback;
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resetPositionLock();
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}
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_trajectory[0].setCurrentPosition(_position_estimate(0));
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_trajectory[1].setCurrentPosition(_position_estimate(1));
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}
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}
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