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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
61 lines
2.7 KiB
C++
61 lines
2.7 KiB
C++
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* Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
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****************************************************************************/
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#pragma once
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#include "FlightTaskManualAltitudeSmoothVel.hpp"
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#include "StickAccelerationXY.hpp"
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#include "StickYaw.hpp"
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#include <lib/weather_vane/WeatherVane.hpp>
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class FlightTaskManualAcceleration : public FlightTaskManualAltitudeSmoothVel
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{
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public:
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FlightTaskManualAcceleration() = default;
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virtual ~FlightTaskManualAcceleration() = default;
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bool activate(const trajectory_setpoint_s &last_setpoint) override;
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bool update() override;
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protected:
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void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) override;
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void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override;
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StickAccelerationXY _stick_acceleration_xy{this};
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WeatherVane _weathervane{this}; /**< weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
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(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
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(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor
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)
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};
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