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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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96 lines
3.6 KiB
C++
96 lines
3.6 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 FlightManualAltitude.hpp
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*
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* Flight task for manual controlled altitude.
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*/
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#pragma once
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#include "FlightTaskManualStabilized.hpp"
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class FlightTaskManualAltitude : public FlightTaskManualStabilized
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{
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public:
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FlightTaskManualAltitude() = default;
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virtual ~FlightTaskManualAltitude() = default;
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bool activate() override;
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bool updateInitialize() override;
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protected:
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void _updateSetpoints() override; /**< updates all setpoints */
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void _scaleSticks() override; /**< scales sticks to velocity in z */
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/**
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* Check and sets for position lock.
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* If sticks are at center position, the vehicle
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* will exit velocity control and enter position control.
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*/
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void _updateAltitudeLock();
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualStabilized,
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(ParamFloat<px4::params::MPC_HOLD_MAX_Z>) MPC_HOLD_MAX_Z,
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(ParamFloat<px4::params::SENS_FLOW_MINRNG>) SENS_FLOW_MINRNG,
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(ParamInt<px4::params::MPC_ALT_MODE>) MPC_ALT_MODE
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)
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private:
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uint8_t _reset_counter = 0; /**< counter for estimator resets in z-direction */
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/**
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* Distance to ground during terrain following.
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* If user does not demand velocity change in D-direction and the vehcile
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* is in terrain-following mode, then height to ground will be locked to
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* _dist_to_ground_lock.
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*/
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float _dist_to_ground_lock = NAN;
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/**
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* Terrain following.
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* During terrain following, the position setpoint is adjusted
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* such that the distance to ground is kept constant.
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* @param apply_brake is true if user wants to break
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* @param stopped is true if vehicle has stopped moving in D-direction
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*/
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void _terrain_following(bool apply_brake, bool stopped);
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/**
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* Minimum Altitude during range sensor operation.
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* If a range sensor is used for altitude estimates, for
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* best operation a minimum altitude is required. The minimum
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* altitude is only enforced during altitude lock.
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*/
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void _respectMinAltitude();
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};
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