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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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99 lines
3.3 KiB
C++
99 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 FlightTaskOrbit.cpp
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*/
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#include "FlightTaskOrbit.hpp"
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#include <mathlib/mathlib.h>
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using namespace matrix;
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FlightTaskOrbit::FlightTaskOrbit(control::SuperBlock *parent, const char *name) :
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FlightTaskManual(parent, name)
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{
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_sticks_data_required = false;
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}
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bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
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{
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const float &r = command.param3; /**< commanded radius */
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const float &v = command.param4; /**< commanded velocity */
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if (math::isInRange(r, 5.f, 50.f) && fabs(v) < 10.f) {
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_r = r;
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_v = v;
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return FlightTaskManual::applyCommandParameters(command);
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}
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return false;
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}
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bool FlightTaskOrbit::activate()
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{
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bool ret = FlightTaskManual::activate();
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_r = 1.f;
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_v = 0.5f;
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_z = _position(2);
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_center = Vector2f(_position.data());
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_center(0) -= _r;
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return ret;
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}
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bool FlightTaskOrbit::update()
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{
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_r += _sticks_expo(0) * _deltatime;
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_r = math::constrain(_r, 1.f, 20.f);
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_v -= _sticks_expo(1) * _deltatime;
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_v = math::constrain(_v, -7.f, 7.f);
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_z += _sticks_expo(2) * _deltatime;
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Vector2f center_to_position = Vector2f(_position.data()) - _center;
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/* xy velocity to go around in a circle */
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Vector2f velocity_xy = Vector2f(center_to_position(1), -center_to_position(0));
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velocity_xy = velocity_xy.unit_or_zero();
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velocity_xy *= _v;
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/* xy velocity adjustment to stay on the radius distance */
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velocity_xy += (_r - center_to_position.norm()) * center_to_position.unit_or_zero();
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float yaw = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
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_setPositionSetpoint(Vector3f(NAN, NAN, _z));
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_setVelocitySetpoint(Vector3f(velocity_xy(0), velocity_xy(1), 0.f));
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_setYawSetpoint(yaw);
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return true;
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}
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