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120 lines
4.1 KiB
C++
120 lines
4.1 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 FlightManualAltitude.cpp
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*/
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#include "FlightTaskManualAltitude.hpp"
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#include <float.h>
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using namespace matrix;
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FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent, const char *name) :
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FlightTaskManualStabilized(parent, name),
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_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
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_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
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_vel_hold_thr_z(parent, "MPC_HOLD_MAX_Z", false)
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{}
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bool FlightTaskManualAltitude::activate()
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{
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_pos_sp_z = NAN;
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_vel_sp_z = 0.0f;
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return FlightTaskManualStabilized::activate();
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}
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void FlightTaskManualAltitude::_scaleSticks()
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{
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/* Reuse same scaling as for stabilized */
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FlightTaskManualStabilized::_scaleSticks();
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/* Scale horizontal velocity with expo curve stick input*/
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const float vel_max_z = (_sticks(2) > 0.0f) ? _vel_max_down.get() : _vel_max_up.get();
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_vel_sp_z = vel_max_z * _sticks_expo(2);
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}
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void FlightTaskManualAltitude::_updateAltitudeLock()
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{
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/* Depending on stick inputs and velocity, position is locked.
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* If not locked, altitude setpoint is set to NAN.
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*/
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/* handle position and altitude hold */
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const bool apply_brake_z = fabsf(_vel_sp_z) <= FLT_EPSILON;
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const bool stopped_z = (_vel_hold_thr_z.get() < FLT_EPSILON || fabsf(_velocity(2)) < _vel_hold_thr_z.get());
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if (apply_brake_z && stopped_z && !PX4_ISFINITE(_pos_sp_z)) {
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_pos_sp_z = _position(2);
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} else if (!apply_brake_z) {
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_pos_sp_z = NAN;
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}
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}
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void FlightTaskManualAltitude::_updateSetpoints()
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{
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FlightTaskManualStabilized::_updateSetpoints(); // get yaw setpoint
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/* Thrust in xy are extracted directly from stick inputs. A magnitude of
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* 1 means that maximum thrust along xy is required. A magnitude of 0 means no
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* thrust along xy is required. The maximum thrust along xy depends on the thrust
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* setpoint along z-direction, which is computed in PositionControl.cpp.
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*/
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matrix::Vector3f sp{_sticks(0), _sticks(1), 0.0f};
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sp = (matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f, _yaw)) * sp);
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if (sp.length() > 1.0f) {
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sp.normalize();
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}
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_thr_sp(0) = sp(0);
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_thr_sp(1) = sp(1);
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_updateAltitudeLock(); // get z setpoints
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}
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bool FlightTaskManualAltitude::update()
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{
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_scaleSticks();
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_updateSetpoints();
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_setPositionSetpoint(Vector3f(NAN, NAN, _pos_sp_z));
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_setVelocitySetpoint(Vector3f(NAN, NAN, _vel_sp_z));
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_setYawSetpoint(_yaw_sp);
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_setYawspeedSetpoint(_yaw_rate_sp);
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_setThrustSetpoint(Vector3f(_thr_sp(0), _thr_sp(1), NAN));
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return true;
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}
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