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90 lines
3.3 KiB
C++
90 lines
3.3 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 FlightTaskManualPositionSmoothVel.hpp
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*
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* Flight task for smooth manual controlled position.
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*/
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#pragma once
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#include "FlightTaskManualPosition.hpp"
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#include "VelocitySmoothing.hpp"
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class FlightTaskManualPositionSmoothVel : public FlightTaskManualPosition
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{
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public:
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FlightTaskManualPositionSmoothVel() = default;
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virtual ~FlightTaskManualPositionSmoothVel() = default;
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bool activate() override;
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void reActivate() override;
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protected:
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virtual void _updateSetpoints() override;
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
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(ParamFloat<px4::params::MPC_JERK_MIN>) _jerk_min, /**< Minimum jerk (velocity-based if > 0) */
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(ParamFloat<px4::params::MPC_JERK_MAX>) _jerk_max,
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(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX,
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(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX
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)
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private:
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enum class Axes {XY, XYZ};
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/**
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* Reset the required axes. when force_z_zero is set to true, the z derivatives are set to sero and not to the estimated states
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*/
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void reset(Axes axes, bool force_z_zero = false);
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void _checkEkfResetCounters(); /**< Reset the trajectories when the ekf resets velocity or position */
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VelocitySmoothing _smoothing[3]; ///< Smoothing in x, y and z directions
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matrix::Vector3f _vel_sp_smooth;
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bool _position_lock_xy_active{false};
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bool _position_lock_z_active{false};
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matrix::Vector2f _position_setpoint_xy_locked;
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float _position_setpoint_z_locked{NAN};
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/* counters for estimator local position resets */
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struct {
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uint8_t xy;
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uint8_t vxy;
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uint8_t z;
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uint8_t vz;
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} _reset_counters{0, 0, 0, 0};
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};
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