mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-18 10:37:34 +08:00
Julian Oes
6a6b8d49fc
This way we avoid duplication between manual_control_input and manual_control_setpoint.
108 lines
3.9 KiB
C++
108 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 Sticks.cpp
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*/
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#include "Sticks.hpp"
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using namespace time_literals;
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using namespace matrix;
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Sticks::Sticks(ModuleParams *parent) :
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ModuleParams(parent)
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{}
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bool Sticks::checkAndSetStickInputs()
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{
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// Sticks are rescaled linearly and exponentially to [-1,1]
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manual_control_setpoint_s manual_control_setpoint;
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if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
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// Linear scale
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_positions(0) = manual_control_setpoint.chosen_input.x; // NED x, pitch [-1,1]
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_positions(1) = manual_control_setpoint.chosen_input.y; // NED y, roll [-1,1]
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_positions(2) = -(math::constrain(manual_control_setpoint.chosen_input.z, 0.0f,
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1.0f) - 0.5f) * 2.f; // NED z, thrust resacaled from [0,1] to [-1,1]
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_positions(3) = manual_control_setpoint.chosen_input.r; // yaw [-1,1]
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// Exponential scale
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_positions_expo(0) = math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
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_positions_expo(1) = math::expo_deadzone(_positions(1), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
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_positions_expo(2) = math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(), _param_mpc_hold_dz.get());
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_positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(), _param_mpc_hold_dz.get());
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// valid stick inputs are required
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const bool valid_sticks = PX4_ISFINITE(_positions(0))
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&& PX4_ISFINITE(_positions(1))
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&& PX4_ISFINITE(_positions(2))
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&& PX4_ISFINITE(_positions(3));
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_input_available = valid_sticks;
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} else {
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vehicle_status_s vehicle_status;
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if (_vehicle_status_sub.update(&vehicle_status)) {
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if (vehicle_status.rc_signal_lost) {
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_input_available = false;
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}
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}
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}
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if (!_input_available) {
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// Timeout: set all sticks to zero
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_positions.zero();
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_positions_expo.zero();
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}
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return _input_available;
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}
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void Sticks::limitStickUnitLengthXY(Vector2f &v)
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{
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const float vl = v.length();
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if (vl > 1.0f) {
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v /= vl;
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}
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}
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void Sticks::rotateIntoHeadingFrameXY(Vector2f &v, const float yaw, const float yaw_setpoint)
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{
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Vector3f v3(v(0), v(1), 0.f);
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const float yaw_rotate = PX4_ISFINITE(yaw_setpoint) ? yaw_setpoint : yaw;
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v = Vector2f(Dcmf(Eulerf(0.0f, 0.0f, yaw_rotate)) * v3);
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}
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