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127 lines
4.3 KiB
C++
127 lines
4.3 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 FlightTaskManualPosition.cpp
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*/
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#include "FlightTaskManualPosition.hpp"
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#include <mathlib/mathlib.h>
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#include <float.h>
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using namespace matrix;
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bool FlightTaskManualPosition::activate()
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{
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bool ret = FlightTaskManualAltitude::activate();
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// set task specific constraint
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if (_constraints.speed_xy >= MPC_VEL_MANUAL.get()) {
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_constraints.speed_xy = MPC_VEL_MANUAL.get();
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}
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_velocity_scale = _constraints.speed_xy;
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return ret;
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}
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void FlightTaskManualPosition::_scaleSticks()
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{
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/* Use same scaling as for FlightTaskManualAltitude */
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FlightTaskManualAltitude::_scaleSticks();
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/* Constrain length of stick inputs to 1 for xy*/
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Vector2f stick_xy(_sticks_expo(0), _sticks_expo(1));
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float mag = math::constrain(stick_xy.length(), 0.0f, 1.0f);
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if (mag > FLT_EPSILON) {
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stick_xy = stick_xy.normalized() * mag;
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}
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// scale the stick inputs
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if (_sub_vehicle_local_position->get().vxy_max > 0.001f) {
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// estimator provides vehicle specific max
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// use the minimum of the estimator and user specified limit
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_velocity_scale = fminf(_constraints.speed_xy, _sub_vehicle_local_position->get().vxy_max);
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// Allow for a minimum of 0.3 m/s for repositioning
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_velocity_scale = fmaxf(_velocity_scale, 0.3f);
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} else if (stick_xy.length() > 0.5f) {
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// raise the limit at a constant rate up to the user specified value
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if (_velocity_scale < _constraints.speed_xy) {
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_velocity_scale += _deltatime * MPC_ACC_HOR_FLOW.get();
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} else {
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_velocity_scale = _constraints.speed_xy;
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}
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}
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// scale velocity to its maximum limits
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Vector2f vel_sp_xy = stick_xy * _velocity_scale;
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/* Rotate setpoint into local frame. */
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_rotateIntoHeadingFrame(vel_sp_xy);
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_velocity_setpoint(0) = vel_sp_xy(0);
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_velocity_setpoint(1) = vel_sp_xy(1);
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}
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void FlightTaskManualPosition::_updateXYlock()
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{
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/* If position lock is not active, position setpoint is set to NAN.*/
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const float vel_xy_norm = Vector2f(&_velocity(0)).length();
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const bool apply_brake = Vector2f(&_velocity_setpoint(0)).length() < FLT_EPSILON;
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const bool stopped = (MPC_HOLD_MAX_XY.get() < FLT_EPSILON || vel_xy_norm < MPC_HOLD_MAX_XY.get());
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if (apply_brake && stopped && !PX4_ISFINITE(_position_setpoint(0))) {
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_position_setpoint(0) = _position(0);
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_position_setpoint(1) = _position(1);
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} else if (!apply_brake) {
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/* don't lock*/
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_position_setpoint(0) = NAN;
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_position_setpoint(1) = NAN;
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}
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}
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void FlightTaskManualPosition::_updateSetpoints()
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{
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FlightTaskManualAltitude::_updateSetpoints(); // needed to get yaw and setpoints in z-direction
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_thrust_setpoint *= NAN; // don't require any thrust setpoints
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_updateXYlock(); // check for position lock
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}
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