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108 lines
3.6 KiB
C++
108 lines
3.6 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.h
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*
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* Flight task for orbiting in a circle around a target position
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include "FlightTask.hpp"
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class FlightTaskOrbit : public FlightTask
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{
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public:
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FlightTaskOrbit() {};
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virtual ~FlightTaskOrbit() {};
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/**
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* Call once on the event where you switch to the task
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int activate()
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{
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FlightTask::activate();
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return 0;
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};
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/**
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* Call once on the event of switching away from the task
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int disable() { return 0; };
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/**
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* Call regularly in the control loop cycle to execute the task
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int update()
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{
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FlightTask::update();
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r += _sticks(1) * _deltatime;
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r = math::constrain(r, 0.5f, 4.f);
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v -= _sticks(0) * _deltatime;
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v = math::constrain(v, -7.f, 7.f);
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altitude += _sticks(3) * _deltatime;
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altitude = math::constrain(altitude, 2.f, 5.f);
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matrix::Vector2<float> target_to_position = matrix::Vector2f(_position.data()) - matrix::Vector2f();
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// TODO: add local frame target position here
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/* xy velocity to go around in a circle */
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matrix::Vector2<float> velocity_xy = matrix::Vector2f(target_to_position(1), -target_to_position(0));
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velocity_xy.normalize();
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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 - target_to_position.norm()) * target_to_position.normalized();
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//printf("%f %f %f\n", (double)altitude, (double)r, (double)v);
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_set_position_setpoint(matrix::Vector3f(NAN, NAN, -altitude));
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_set_velocity_setpoint(matrix::Vector3f(velocity_xy(0), velocity_xy(1), 0.f));
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return 0;
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};
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private:
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float r = 1.f; /* radius with which to orbit the target */
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float v = 0.1f; /* linear velocity for orbiting in m/s */
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float altitude = 2.f; /* altitude in meters */
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};
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