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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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4a5aa1e947
* fix max-hagl restriction to position/altitude control * max hagl vel restriction in ManAcc position mode * use interpolate func, change naming * simplyfied vertical vel limitation * move velocity-constraint adjustment to StickAccelXY
116 lines
4.5 KiB
C++
116 lines
4.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2023 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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* 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 FlightTaskManualAcceleration.cpp
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*/
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#include "FlightTaskManualAcceleration.hpp"
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using namespace matrix;
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bool FlightTaskManualAcceleration::activate(const trajectory_setpoint_s &last_setpoint)
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{
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bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
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_stick_acceleration_xy.resetPosition();
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if (Vector2f(last_setpoint.velocity).isAllFinite()) {
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_stick_acceleration_xy.resetVelocity(Vector2f(last_setpoint.velocity));
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} else {
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_stick_acceleration_xy.resetVelocity(_velocity.xy());
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}
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_stick_acceleration_xy.resetAcceleration(Vector2f(last_setpoint.acceleration));
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return ret;
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}
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bool FlightTaskManualAcceleration::update()
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{
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const vehicle_local_position_s vehicle_local_pos = _sub_vehicle_local_position.get();
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setMaxDistanceToGround(vehicle_local_pos.hagl_max_xy);
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bool ret = FlightTaskManualAltitudeSmoothVel::update();
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float max_hagl_ratio = 0.0f;
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if (PX4_ISFINITE(vehicle_local_pos.hagl_max_xy) && vehicle_local_pos.hagl_max_xy > FLT_EPSILON) {
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max_hagl_ratio = (vehicle_local_pos.dist_bottom) / vehicle_local_pos.hagl_max_xy;
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}
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// limit horizontal velocity near max hagl to decrease chance of larger gound distance jumps
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static constexpr float factor_threshold = 0.8f; // threshold ratio of max_hagl
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static constexpr float min_vel = 2.f; // minimum max-velocity near max_hagl
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if (max_hagl_ratio > factor_threshold) {
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max_hagl_ratio = math::min(max_hagl_ratio, 1.f);
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const float vxy_max = math::min(vehicle_local_pos.vxy_max, _param_mpc_vel_manual.get());
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_stick_acceleration_xy.setVelocityConstraint(interpolate(vxy_max, factor_threshold, min_vel, vxy_max, min_vel));
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} else {
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_stick_acceleration_xy.setVelocityConstraint(math::min(_param_mpc_vel_manual.get(), vehicle_local_pos.vxy_max));
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}
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_stick_acceleration_xy.generateSetpoints(_sticks.getPitchRollExpo(), _yaw, _yaw_setpoint, _position,
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_velocity_setpoint_feedback.xy(), _deltatime);
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_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);
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_constraints.want_takeoff = _checkTakeoff();
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// check if an external yaw handler is active and if yes, let it update the yaw setpoints
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_weathervane.update();
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if (_weathervane.isActive()) {
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_yaw_setpoint = NAN;
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// only enable the weathervane to change the yawrate when position lock is active (and thus the pos. sp. are NAN)
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if (Vector2f(_position_setpoint).isAllFinite()) {
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// vehicle is steady
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_yawspeed_setpoint += _weathervane.getWeathervaneYawrate();
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}
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}
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return ret;
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}
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void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy)
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{
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_stick_acceleration_xy.resetPosition();
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}
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void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy)
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{
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_stick_acceleration_xy.resetVelocity(_velocity.xy());
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}
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