mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-03 03:40:35 +08:00
Dennis Mannhart
105 lines
3.3 KiB
C++
105 lines
3.3 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 FlightManualStabilized.cpp
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*
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* Flight task for manual controlled attitude.
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* It generates thrust and yaw setpoints.
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* TODO: add thrust
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*/
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#include "FlightTaskManualStabilized.hpp"
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#include <mathlib/mathlib.h>
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#include <float.h>
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#include <lib/geo/geo.h>
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using namespace matrix;
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FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *parent, const char *name) :
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FlightTaskManual(parent, name),
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_yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false)
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{}
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bool FlightTaskManualStabilized::activate()
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{
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_yaw_sp = _yaw;
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_yaw_rate_sp = 0.0f;
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return FlightTaskManual::activate();
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}
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void FlightTaskManualStabilized::_scaleSticks()
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{
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/* Scale sticks to yaw and thrust using
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* linear scale.
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* TODO: add thrust */
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_yaw_rate_sp = _sticks(3) * math::radians(_yaw_rate_scaling.get());
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}
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void FlightTaskManualStabilized::_updateHeadingSetpoints()
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{
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/* Yaw-lock depends on stick input. If not locked,
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* yaw_sp is set to NAN.
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* TODO: add yawspeed to get threshold.*/
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const bool stick_yaw_zero = fabsf(_sticks(3)) <= _stick_dz.get();
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if (stick_yaw_zero && !PX4_ISFINITE(_yaw_sp)) {
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_yaw_sp = _yaw;
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} else if (!stick_yaw_zero) {
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_yaw_sp = NAN;
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}
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}
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void FlightTaskManualStabilized::_updateThrustSetpoints()
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{
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// TODO
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}
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void FlightTaskManualStabilized::_updateSetpoints()
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{
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_updateHeadingSetpoints();
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//_updateThrustSetpoints();
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}
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bool FlightTaskManualStabilized::update()
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{
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_scaleSticks(); // scales sticks linearly to yaw/yawspeed and thrust
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_updateSetpoints(); // applies yaw and position lock if required
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_setYawSetpoint(_yaw_sp);
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_setYawspeedSetpoint(_yaw_rate_sp);
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//_setThrustSetpoint(...) TODO
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return true;
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}
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