mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 06:33:34 +08:00
Matthias Grob
c20e5e3a00
It was added before the activation was able to work with the previous setpoint.
111 lines
4.0 KiB
C++
111 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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 FlightManualAltitude.cpp
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*/
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#include "FlightTaskManualAltitudeSmoothVel.hpp"
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#include <float.h>
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using namespace matrix;
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bool FlightTaskManualAltitudeSmoothVel::activate(const vehicle_local_position_setpoint_s &last_setpoint)
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{
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bool ret = FlightTaskManualAltitude::activate(last_setpoint);
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// Check if the previous FlightTask provided setpoints
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// If the position setpoint is unknown, set to the current postion
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float z_sp_last = PX4_ISFINITE(last_setpoint.z) ? last_setpoint.z : _position(2);
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// If the velocity setpoint is unknown, set to the current velocity
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float vz_sp_last = PX4_ISFINITE(last_setpoint.vz) ? last_setpoint.vz : _velocity(2);
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// No acceleration estimate available, set to zero if the setpoint is NAN
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float az_sp_last = PX4_ISFINITE(last_setpoint.acceleration[2]) ? last_setpoint.acceleration[2] : 0.f;
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_smoothing.reset(az_sp_last, vz_sp_last, z_sp_last);
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return ret;
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}
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void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerPositionZ(float delta_z)
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{
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_smoothing.setCurrentPosition(_position(2));
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}
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void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerVelocityZ(float delta_vz)
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{
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_smoothing.setCurrentVelocity(_velocity(2));
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}
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void FlightTaskManualAltitudeSmoothVel::_updateSetpoints()
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{
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// Set max accel/vel/jerk
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// Has to be done before _updateTrajectories()
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_updateTrajConstraints();
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_smoothing.setVelSpFeedback(_velocity_setpoint_feedback(2));
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_smoothing.setCurrentPositionEstimate(_position(2));
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// Get yaw setpoint, un-smoothed position setpoints
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FlightTaskManualAltitude::_updateSetpoints();
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_smoothing.update(_deltatime, _velocity_setpoint(2));
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// Fill the jerk, acceleration, velocity and position setpoint vectors
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_setOutputState();
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}
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void FlightTaskManualAltitudeSmoothVel::_updateTrajConstraints()
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{
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_smoothing.setMaxJerk(_param_mpc_jerk_max.get());
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_smoothing.setMaxAccelUp(_param_mpc_acc_up_max.get());
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_smoothing.setMaxVelUp(_constraints.speed_up);
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_smoothing.setMaxAccelDown(_param_mpc_acc_down_max.get());
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_smoothing.setMaxVelDown(_constraints.speed_down);
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}
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void FlightTaskManualAltitudeSmoothVel::_setOutputState()
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{
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_jerk_setpoint(2) = _smoothing.getCurrentJerk();
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_acceleration_setpoint(2) = _smoothing.getCurrentAcceleration();
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_velocity_setpoint(2) = _smoothing.getCurrentVelocity();
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_position_setpoint(2) = _smoothing.getCurrentPosition();
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}
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