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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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116 lines
3.9 KiB
C++
116 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 FlightTaskManualAcceleration.cpp
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*/
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#include "FlightTaskManualAcceleration.hpp"
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using namespace matrix;
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FlightTaskManualAcceleration::FlightTaskManualAcceleration() :
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_stick_acceleration_xy(this)
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{};
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bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoint_s &last_setpoint)
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{
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bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
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if (PX4_ISFINITE(last_setpoint.vx)) {
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_velocity_setpoint.xy() = Vector2f(last_setpoint.vx, last_setpoint.vy);
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} else {
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_velocity_setpoint.xy() = Vector2f(_velocity);
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}
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_stick_acceleration_xy.resetPosition();
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if (PX4_ISFINITE(last_setpoint.acceleration[0])) {
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_stick_acceleration_xy.resetAcceleration(Vector2f(last_setpoint.acceleration[0], last_setpoint.acceleration[1]));
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}
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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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bool ret = FlightTaskManualAltitudeSmoothVel::update();
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_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint,
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_sticks.getPositionExpo()(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
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_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _yaw_setpoint, _position,
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_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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return ret;
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}
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void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY()
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{
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if (PX4_ISFINITE(_position_setpoint(0))) {
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_position_setpoint(0) = _position(0);
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_position_setpoint(1) = _position(1);
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}
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}
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void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY()
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{
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if (PX4_ISFINITE(_velocity_setpoint(0))) {
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_velocity_setpoint(0) = _velocity(0);
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_velocity_setpoint(1) = _velocity(1);
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}
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}
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void FlightTaskManualAcceleration::_ekfResetHandlerPositionZ()
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{
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if (PX4_ISFINITE(_position_setpoint(2))) {
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_position_setpoint(2) = _position(2);
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}
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}
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void FlightTaskManualAcceleration::_ekfResetHandlerVelocityZ()
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{
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if (PX4_ISFINITE(_velocity_setpoint(2))) {
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_velocity_setpoint(2) = _velocity(2);
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}
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}
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void FlightTaskManualAcceleration::_ekfResetHandlerHeading(float delta_psi)
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{
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if (PX4_ISFINITE(_yaw_setpoint)) {
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_yaw_setpoint += delta_psi;
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}
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}
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