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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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84 lines
3.6 KiB
C++
84 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 FlightTaskManual.hpp
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*
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* Linear and exponential map from stick inputs to range -1 and 1.
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*
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*/
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#pragma once
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#include "FlightTask.hpp"
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#include <uORB/topics/manual_control_setpoint.h>
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class FlightTaskManual : public FlightTask
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{
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public:
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FlightTaskManual() = default;
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virtual ~FlightTaskManual() = default;
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bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
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bool applyCommandParameters(const vehicle_command_s &command) override { return FlightTask::applyCommandParameters(command); };
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bool updateInitialize() override;
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protected:
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bool _sticks_data_required = true; /**< let inherited task-class define if it depends on stick data */
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matrix::Vector<float, 4> _sticks; /**< unmodified manual stick inputs */
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matrix::Vector<float, 4> _sticks_expo; /**< modified manual sticks using expo function*/
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int _gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE; /**< old switch state*/
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float stickDeadzone() const { return _param_mpc_hold_dz.get(); }
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private:
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bool _evaluateSticks(); /**< checks and sets stick inputs */
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void _applyGearSwitch(uint8_t gswitch); /**< Sets gears according to switch */
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uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
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(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz, /**< 0-deadzone around the center for the sticks */
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(ParamFloat<px4::params::MPC_XY_MAN_EXPO>)
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_param_mpc_xy_man_expo, /**< ratio of exponential curve for stick input in xy direction */
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(ParamFloat<px4::params::MPC_Z_MAN_EXPO>)
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_param_mpc_z_man_expo, /**< ratio of exponential curve for stick input in z direction */
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(ParamFloat<px4::params::MPC_YAW_EXPO>)
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_param_mpc_yaw_expo, /**< ratio of exponential curve for stick input in yaw for modes except acro */
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(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t /**< time at which commander considers RC lost */
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)
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};
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