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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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251 lines
8.4 KiB
C++
251 lines
8.4 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 FlightTaskAuto.cpp
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*/
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#include "FlightTaskOffboard.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 FlightTaskOffboard::initializeSubscriptions(SubscriptionArray &subscription_array)
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{
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if (!FlightTask::initializeSubscriptions(subscription_array)) {
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return false;
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}
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if (!subscription_array.get(ORB_ID(position_setpoint_triplet), _sub_triplet_setpoint)) {
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return false;
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}
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return true;
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}
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bool FlightTaskOffboard::updateInitialize()
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{
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bool ret = FlightTask::updateInitialize();
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// require a valid triplet
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ret = ret && _sub_triplet_setpoint->get().current.valid;
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// require valid position / velocity in xy
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return ret && PX4_ISFINITE(_position(0))
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&& PX4_ISFINITE(_position(1))
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&& PX4_ISFINITE(_velocity(0))
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&& PX4_ISFINITE(_velocity(1));
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}
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bool FlightTaskOffboard::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.setZero();
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_position_lock.setAll(NAN);
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return ret;
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}
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bool FlightTaskOffboard::update()
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{
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if (!_sub_triplet_setpoint->get().current.valid) {
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_resetSetpoints();
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_position_setpoint = _position;
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return false;
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}
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// reset setpoint for every loop
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_resetSetpoints();
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// Yaw / Yaw-speed
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if (_sub_triplet_setpoint->get().current.yaw_valid) {
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// yaw control required
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_yaw_setpoint = _sub_triplet_setpoint->get().current.yaw;
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if (_sub_triplet_setpoint->get().current.yawspeed_valid) {
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// yawspeed is used as feedforward
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_yawspeed_setpoint = _sub_triplet_setpoint->get().current.yawspeed;
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}
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} else if (_sub_triplet_setpoint->get().current.yawspeed_valid) {
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// only yawspeed required
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_yawspeed_setpoint = _sub_triplet_setpoint->get().current.yawspeed;
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// set yaw setpoint to NAN since not used
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_yaw_setpoint = NAN;
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}
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// Loiter
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if (_sub_triplet_setpoint->get().current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
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// loiter just means that the vehicle should keep position
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if (!PX4_ISFINITE(_position_lock(0))) {
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_position_setpoint = _position_lock = _position;
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} else {
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_position_setpoint = _position_lock;
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}
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// don't have to continue
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return true;
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} else {
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_position_lock.setAll(NAN);
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}
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// Takeoff
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if (_sub_triplet_setpoint->get().current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
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// just do takeoff to default altitude
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if (!PX4_ISFINITE(_position_lock(0))) {
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_position_setpoint = _position_lock = _position;
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_position_setpoint(2) = _position_lock(2) = _position(2) - _param_mis_takeoff_alt.get();
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} else {
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_position_setpoint = _position_lock;
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}
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// don't have to continue
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return true;
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} else {
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_position_lock.setAll(NAN);
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}
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// Land
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if (_sub_triplet_setpoint->get().current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
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// land with landing speed, but keep position in xy
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if (!PX4_ISFINITE(_position_lock(0))) {
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_position_setpoint = _position_lock = _position;
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_position_setpoint(2) = _position_lock(2) = NAN;
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_velocity_setpoint(2) = _param_mpc_land_speed.get();
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} else {
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_position_setpoint = _position_lock;
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_velocity_setpoint(2) = _param_mpc_land_speed.get();
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}
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// don't have to continue
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return true;
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} else {
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_position_lock.setAll(NAN);
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}
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// IDLE
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if (_sub_triplet_setpoint->get().current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
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_thrust_setpoint.zero();
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return true;
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}
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// Possible inputs:
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// 1. position setpoint
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// 2. position setpoint + velocity setpoint (velocity used as feedforward)
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// 3. velocity setpoint
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// 4. acceleration setpoint -> this will be mapped to normalized thrust setpoint because acceleration is not supported
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const bool position_ctrl_xy = _sub_triplet_setpoint->get().current.position_valid
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&& _sub_vehicle_local_position->get().xy_valid;
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const bool position_ctrl_z = _sub_triplet_setpoint->get().current.alt_valid
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&& _sub_vehicle_local_position->get().z_valid;
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const bool velocity_ctrl_xy = _sub_triplet_setpoint->get().current.velocity_valid
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&& _sub_vehicle_local_position->get().v_xy_valid;
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const bool velocity_ctrl_z = _sub_triplet_setpoint->get().current.velocity_valid
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&& _sub_vehicle_local_position->get().v_z_valid;
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const bool feedforward_ctrl_xy = position_ctrl_xy && velocity_ctrl_xy;
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const bool feedforward_ctrl_z = position_ctrl_z && velocity_ctrl_z;
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const bool acceleration_ctrl = _sub_triplet_setpoint->get().current.acceleration_valid;
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// if nothing is valid in xy, then exit offboard
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if (!(position_ctrl_xy || velocity_ctrl_xy || acceleration_ctrl)) {
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return false;
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}
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// if nothing is valid in z, then exit offboard
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if (!(position_ctrl_z || velocity_ctrl_z || acceleration_ctrl)) {
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return false;
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}
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// XY-direction
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if (feedforward_ctrl_xy) {
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_position_setpoint(0) = _sub_triplet_setpoint->get().current.x;
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_position_setpoint(1) = _sub_triplet_setpoint->get().current.y;
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_velocity_setpoint(0) = _sub_triplet_setpoint->get().current.vx;
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_velocity_setpoint(1) = _sub_triplet_setpoint->get().current.vy;
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} else if (position_ctrl_xy) {
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_position_setpoint(0) = _sub_triplet_setpoint->get().current.x;
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_position_setpoint(1) = _sub_triplet_setpoint->get().current.y;
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} else if (velocity_ctrl_xy) {
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if (_sub_triplet_setpoint->get().current.velocity_frame == position_setpoint_s::VELOCITY_FRAME_LOCAL_NED) {
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// in local frame: don't require any transformation
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_velocity_setpoint(0) = _sub_triplet_setpoint->get().current.vx;
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_velocity_setpoint(1) = _sub_triplet_setpoint->get().current.vy;
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} else if (_sub_triplet_setpoint->get().current.velocity_frame == position_setpoint_s::VELOCITY_FRAME_BODY_NED) {
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// in body frame: need to transorm first
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// Note, this transformation is wrong because body-xy is not neccessarily on the same plane as locale-xy
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_velocity_setpoint(0) = cosf(_yaw) * _sub_triplet_setpoint->get().current.vx - sinf(
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_yaw) * _sub_triplet_setpoint->get().current.vy;
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_velocity_setpoint(1) = sinf(_yaw) * _sub_triplet_setpoint->get().current.vx + cosf(
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_yaw) * _sub_triplet_setpoint->get().current.vy;
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} else {
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// no valid frame
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return false;
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}
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}
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// Z-direction
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if (feedforward_ctrl_z) {
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_position_setpoint(2) = _sub_triplet_setpoint->get().current.z;
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_velocity_setpoint(2) = _sub_triplet_setpoint->get().current.vz;
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} else if (position_ctrl_z) {
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_position_setpoint(2) = _sub_triplet_setpoint->get().current.z;
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} else if (velocity_ctrl_z) {
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_velocity_setpoint(2) = _sub_triplet_setpoint->get().current.vz;
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}
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// Acceleration
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// Note: this is not supported yet and will be mapped to normalized thrust directly.
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if (_sub_triplet_setpoint->get().current.acceleration_valid) {
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_thrust_setpoint(0) = _sub_triplet_setpoint->get().current.a_x;
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_thrust_setpoint(1) = _sub_triplet_setpoint->get().current.a_y;
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_thrust_setpoint(2) = _sub_triplet_setpoint->get().current.a_z;
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}
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return true;
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}
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