mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 20:07:35 +08:00
Matthias Grob
69 lines
2.6 KiB
C++
69 lines
2.6 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 FlightTaskOrbit.hpp
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*
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* Flight task for orbiting in a circle around a target position
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include "FlightTaskManual.hpp"
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class FlightTaskSport : public FlightTaskManual
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{
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public:
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FlightTaskSport(control::SuperBlock *parent, const char *name) :
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FlightTaskManual(parent, name),
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_velocity_hor_max(parent, "MPC_XY_VEL_MAX", false)
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{ }
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virtual ~FlightTaskSport() = default;
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protected:
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void _scaleVelocity(matrix::Vector3f &velocity) override
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{
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const matrix::Vector3f velocity_scale(_velocity_hor_max.get(),
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_velocity_hor_max.get(),
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(velocity(2) > 0.0f) ? _z_vel_max_down.get() : _z_vel_max_up.get());
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velocity = velocity.emult(velocity_scale);
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}
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private:
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control::BlockParamFloat _velocity_hor_max; /**< maximal allowed horizontal speed, in sport mode full stick input*/
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};
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