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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-01 17:51:36 +08:00
77 lines
2.8 KiB
C++
77 lines
2.8 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 FlightTaskFailsafe.cpp
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*/
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#include "FlightTaskFailsafe.hpp"
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bool FlightTaskFailsafe::activate()
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{
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bool ret = FlightTask::activate();
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_position_setpoint = _position;
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_velocity_setpoint.zero();
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_thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, -MPC_THR_HOVER.get() * 0.6f);
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_yaw_setpoint = _yaw;
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_yawspeed_setpoint = 0.0f;
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return ret;
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}
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bool FlightTaskFailsafe::update()
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{
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if (PX4_ISFINITE(_position(0)) && PX4_ISFINITE(_position(1))) {
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// stay at current position setpoint
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_velocity_setpoint(0) = _velocity_setpoint(1) = 0.0f;
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_thrust_setpoint(0) = _thrust_setpoint(1) = 0.0f;
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} else if (PX4_ISFINITE(_velocity(0)) && PX4_ISFINITE(_velocity(1))) {
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// don't move along xy
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_position_setpoint(0) = _position_setpoint(1) = NAN;
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_thrust_setpoint(0) = _thrust_setpoint(1) = NAN;
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}
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if (PX4_ISFINITE(_position(2))) {
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// stay at current altitude setpoint
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_velocity_setpoint(2) = 0.0f;
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_thrust_setpoint(2) = NAN;
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} else if (PX4_ISFINITE(_velocity(2))) {
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// land with landspeed
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_velocity_setpoint(2) = MPC_LAND_SPEED.get();
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_position_setpoint(2) = NAN;
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_thrust_setpoint(2) = NAN;
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}
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return true;
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} |