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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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bresch
7205e8f359
- move the update after the integration: a new computed jerk has an impact at the next epoch only - add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much - add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot - rename some variables
78 lines
3.2 KiB
C++
78 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 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 FlightTaskAutoLineSmoothVel.hpp
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*
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* Flight task for autonomous, gps driven mode. The vehicle flies
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* along a straight line in between waypoints.
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*/
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#pragma once
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#include "FlightTaskAutoMapper2.hpp"
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#include "VelocitySmoothing.hpp"
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class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper2
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{
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public:
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FlightTaskAutoLineSmoothVel() = default;
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virtual ~FlightTaskAutoLineSmoothVel() = default;
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bool activate() override;
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void reActivate() override;
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protected:
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper2,
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(ParamFloat<px4::params::MIS_YAW_ERR>) MIS_YAW_ERR, // yaw-error threshold
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(ParamFloat<px4::params::MPC_ACC_HOR>) MPC_ACC_HOR, // acceleration in flight
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(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX,
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(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX,
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(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) MPC_ACC_HOR_MAX,
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(ParamFloat<px4::params::MPC_JERK_MIN>) MPC_JERK_MIN,
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(ParamFloat<px4::params::MPC_XY_TRAJ_P>) MPC_XY_TRAJ_P,
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(ParamFloat<px4::params::MPC_Z_TRAJ_P>) MPC_Z_TRAJ_P
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);
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void _generateSetpoints() override; /**< Generate setpoints along line. */
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void _setDefaultConstraints() override;
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inline float constrain_one_side(float val, float constrain);
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void _generateHeadingAlongTrack(); /**< Generates heading along track. */
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void _updateTrajConstraints();
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void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
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void _generateTrajectory();
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VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
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};
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