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134 lines
4.5 KiB
C++
134 lines
4.5 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 SmoothingZ.hpp
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*
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* This Class is used for smoothing the velocity setpoints in Z-direction.
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* In manual altitude control apply acceleration limit based on stick input.
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*/
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#pragma once
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#include <px4_module_params.h>
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/**
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* User-intention.
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* - brake: vehicle should stop
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* - acceleration: vehicle should move up or down
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*/
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enum class ManualIntentionZ {
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brake,
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acceleration,
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};
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class ManualSmoothingZ : public ModuleParams
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{
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public:
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ManualSmoothingZ(ModuleParams *parent, const float &vel, const float &stick);
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~ManualSmoothingZ() = default;
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/**
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* Smooth velocity setpoint based on flight direction.
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* @param vel_sp[2] array: vel_sp[0] = current velocity set-point;
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* vel_sp[1] = previous velocity set-point
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* vel_sp will contain smoothed current / previous set-point.
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* @param dt: time delta in seconds
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*/
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void smoothVelFromSticks(float &vel_sp, const float dt);
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/**
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* Get max accleration.
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*/
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float getMaxAcceleration() { return _max_acceleration; }
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/**
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* Get user intention.
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* @see ManualIntentionZ
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*/
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ManualIntentionZ getIntention() { return _intention; }
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/*
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* Overwrite methods:
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* Needed if different parameter values than default required.
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*/
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void overwriteAccelerationUp(float acc_max_up) { _acc_max_up.set(acc_max_up); }
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void overwriteAccelerationDown(float acc_max_down) {_acc_max_down.set(acc_max_down); }
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void overwriteJerkMax(float jerk_max) {_jerk_max.set(jerk_max); }
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private:
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/**
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* Add delay to velocity setpoint change.
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* This method is used to smooth the velocity setpoint change.
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* @param vel_sp current velocity setpoint
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* @param dt delta-time
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*/
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void velocitySlewRate(float &vel_sp, const float dt);
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/**
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* Computes the velocity setpoint change limit.
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* This method computes the limit with which the velocity setpoint change
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* is limited.
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* @see velocitySlewRate
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* @param vel_sp current velocity setpoint
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* @param dt delta-time
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*/
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void updateAcceleration(float &vel_sp, const float dt);
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/**
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* Set maximum acceleration.
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* The maximum acceleration depends on the desired direction (up vs down).
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* @see _max_acceleration
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*/
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void setMaxAcceleration();
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/**
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* User intention
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* @see ManualIntentionZ
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*/
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ManualIntentionZ _intention{ManualIntentionZ::acceleration};
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const float &_vel; /**< vehicle velocity (dependency injection) */
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const float &_stick; /**< stick input (dependency injection) */
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float _acc_state_dependent; /**< acceleration that depends on _intention */
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float _max_acceleration; /**< can be up or down maximum acceleration */
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float _vel_sp_prev; /**< previous velocity setpoint */
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _acc_max_up,
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(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _acc_max_down,
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(ParamFloat<px4::params::MPC_JERK_MAX>) _jerk_max
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)
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};
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