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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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76 lines
2.7 KiB
C++
76 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 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 FlightManualPositionSmooth.cpp
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*/
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#include "FlightTaskManualPositionSmooth.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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FlightTaskManualPositionSmooth::FlightTaskManualPositionSmooth(control::SuperBlock *parent, const char *name) :
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FlightTaskManualPosition(parent, name),
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_smoothingXY(matrix::Vector2f(&_velocity(0))),
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_smoothingZ(_velocity(2), _sticks(2))
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{}
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bool FlightTaskManualPositionSmooth::activate()
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{
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_vel_sp_prev_z = _velocity(2);
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return FlightTaskManualPosition::activate();
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}
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void FlightTaskManualPositionSmooth::_updateSetpoints()
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{
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/* Get yaw setpont, unsmoothed position setpoints */
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FlightTaskManualPosition::_updateSetpoints();
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/* Smooth velocity setpoint in xy */
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matrix::Vector2f vel(&_velocity(0));
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_smoothingXY.smoothVelocity(_vel_sp_xy, vel, _yaw, _yaw_rate_sp, _deltatime);
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/* Check for altitude lock*/
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_updateXYlock();
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/* Smooth velocity in z*/
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_smoothingZ.smoothVelFromSticks(_vel_sp_z, _deltatime);
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/* Check for altitude lock*/
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_updateAltitudeLock();
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}
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