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103 lines
4.1 KiB
C++
103 lines
4.1 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 Takeoff.hpp
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*
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* A class handling all takeoff states and a smooth ramp up of the motors.
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*/
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#pragma once
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#include <lib/hysteresis/hysteresis.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/takeoff_status.h>
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using namespace time_literals;
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enum class TakeoffState {
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disarmed = takeoff_status_s::TAKEOFF_STATE_DISARMED,
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spoolup = takeoff_status_s::TAKEOFF_STATE_SPOOLUP,
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ready_for_takeoff = takeoff_status_s::TAKEOFF_STATE_READY_FOR_TAKEOFF,
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rampup = takeoff_status_s::TAKEOFF_STATE_RAMPUP,
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flight = takeoff_status_s::TAKEOFF_STATE_FLIGHT
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};
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class Takeoff
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{
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public:
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Takeoff() = default;
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~Takeoff() = default;
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// initialize parameters
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void setSpoolupTime(const float seconds) { _spoolup_time_hysteresis.set_hysteresis_time_from(false, seconds * 1_s); }
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void setTakeoffRampTime(const float seconds) { _takeoff_ramp_time = seconds; }
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/**
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* Calculate a vertical velocity to initialize the takeoff ramp
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* that when passed to the velocity controller results in a zero throttle setpoint.
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* @param hover_thrust normalized thrsut value with which the vehicle hovers
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* @param velocity_p_gain proportional gain of the velocity controller to calculate the thrust
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*/
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void generateInitialRampValue(const float velocity_p_gain);
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/**
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* Update the state for the takeoff.
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* @param setpoint a vehicle_local_position_setpoint_s structure
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* @return true if setpoint has updated correctly
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*/
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void updateTakeoffState(const bool armed, const bool landed, const bool want_takeoff,
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const float takeoff_desired_vz, const bool skip_takeoff, const hrt_abstime &now_us);
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/**
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* Update and return the velocity constraint ramp value during takeoff.
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* By ramping up _takeoff_ramp_vz during the takeoff and using it to constain the maximum climb rate a smooth takeoff behavior is achieved.
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* Returns zero on the ground and takeoff_desired_vz in flight.
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* @param dt time in seconds since the last call/loop iteration
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* @param takeoff_desired_vz end value for the velocity ramp
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* @return true if setpoint has updated correctly
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*/
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float updateRamp(const float dt, const float takeoff_desired_vz);
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TakeoffState getTakeoffState() { return _takeoff_state; }
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private:
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TakeoffState _takeoff_state = TakeoffState::disarmed;
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systemlib::Hysteresis _spoolup_time_hysteresis{false}; /**< becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed */
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float _takeoff_ramp_time = 0.f;
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float _takeoff_ramp_vz_init = 0.f;
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float _takeoff_ramp_vz = 0.f;
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};
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