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92 lines
3.4 KiB
C++
92 lines
3.4 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 FlightTaskTranstion.cpp
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*/
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#include "FlightTaskTransition.hpp"
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bool FlightTaskTransition::updateInitialize()
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{
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return FlightTask::updateInitialize();
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}
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bool FlightTaskTransition::activate(vehicle_local_position_setpoint_s last_setpoint)
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{
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checkSetpoints(last_setpoint);
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_transition_altitude = last_setpoint.z;
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_transition_yaw = last_setpoint.yaw;
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_acceleration_setpoint.setAll(0.f);
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_velocity_prev = _velocity;
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return FlightTask::activate(last_setpoint);
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}
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void FlightTaskTransition::checkSetpoints(vehicle_local_position_setpoint_s &setpoints)
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{
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// If the setpoint is unknown, set to the current estimate
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if (!PX4_ISFINITE(setpoints.z)) { setpoints.z = _position(2); }
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if (!PX4_ISFINITE(setpoints.yaw)) { setpoints.yaw = _yaw; }
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}
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void FlightTaskTransition::updateAccelerationEstimate()
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{
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// Estimate the acceleration by filtering the raw derivative of the velocity estimate
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// This is done to provide a good estimate of the current acceleration to the next flight task after back-transition
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_acceleration_setpoint = 0.9f * _acceleration_setpoint + 0.1f * (_velocity - _velocity_prev) / _deltatime;
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if (!PX4_ISFINITE(_acceleration_setpoint(0)) ||
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!PX4_ISFINITE(_acceleration_setpoint(1)) ||
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!PX4_ISFINITE(_acceleration_setpoint(2))) {
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_acceleration_setpoint.setAll(0.f);
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}
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_velocity_prev = _velocity;
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}
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bool FlightTaskTransition::update()
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{
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// level wings during the transition, altitude should be controlled
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_thrust_setpoint(0) = _thrust_setpoint(1) = 0.0f;
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_thrust_setpoint(2) = NAN;
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_position_setpoint *= NAN;
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_velocity_setpoint *= NAN;
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_position_setpoint(2) = _transition_altitude;
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updateAccelerationEstimate();
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_yaw_setpoint = _transition_yaw;
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return true;
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}
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