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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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77 lines
3.2 KiB
C++
77 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 FlightManualStabilized.hpp
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*
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* Flight task for manual controlled attitude.
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* It generates thrust and yaw setpoints.
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*/
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#pragma once
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#include "FlightTaskManual.hpp"
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class FlightTaskManualStabilized : public FlightTaskManual
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{
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public:
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FlightTaskManualStabilized() = default;
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virtual ~FlightTaskManualStabilized() = default;
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bool activate() override;
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bool update() override;
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protected:
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virtual void _updateSetpoints(); /**< updates all setpoints*/
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virtual void _scaleSticks(); /**< scales sticks to yaw and thrust */
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void _rotateIntoHeadingFrame(matrix::Vector2f &vec); /**< rotates vector into local frame */
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private:
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void _updateHeadingSetpoints(); /**< sets yaw or yaw speed */
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void _updateThrustSetpoints(); /**< sets thrust setpoint */
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float _throttleCurve(); /**< piecewise linear mapping from stick to throttle */
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float _throttle{}; /** mapped from stick z */
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual,
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(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _yaw_rate_scaling, /**< scaling factor from stick to yaw rate */
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(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _tilt_max_man, /**< maximum tilt allowed for manual flight */
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(ParamFloat<px4::params::MPC_THR_MIN>) _throttle_min, /**< minimum throttle that always has to be satisfied in flight*/
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(ParamFloat<px4::params::MPC_THR_MAX>) _throttle_max, /**< maximum throttle that always has to be satisfied in flight*/
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(ParamFloat<px4::params::MPC_THR_HOVER>) _throttle_hover /**< throttle value at which vehicle is at hover equilibrium */
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)
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};
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