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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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106 lines
3.8 KiB
C++
106 lines
3.8 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 FlightTaskManualPosition.cpp
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*/
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#include "FlightTaskManualPosition.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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FlightTaskManualPosition::FlightTaskManualPosition(control::SuperBlock *parent, const char *name) :
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FlightTaskManualAltitude(parent, name),
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_vel_xy_manual_max(parent, "MPC_VEL_MANUAL", false),
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_acc_xy_max(parent, "MPC_ACC_HOR_MAX", false),
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_vel_hold_thr_xy(parent, "MPC_HOLD_MAX_XY", false)
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{}
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bool FlightTaskManualPosition::activate()
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{
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bool ret = FlightTaskManualAltitude::activate();
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_vel_sp(0) = _vel_sp(1) = 0.0f;
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return ret;
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}
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void FlightTaskManualPosition::_scaleSticks()
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{
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/* Use same scaling as for FlightTaskManualAltitude */
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FlightTaskManualAltitude::_scaleSticks();
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/* Constrain length of stick inputs to 1 for xy*/
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matrix::Vector2f stick_xy(_sticks_expo(0), _sticks_expo(1));
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float mag = math::constrain(stick_xy.length(), 0.0f, 1.0f);
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if (mag > FLT_EPSILON) {
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stick_xy = stick_xy.normalized() * mag;
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}
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/* Scale to velocity.*/
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matrix::Vector2f vel_sp_xy = stick_xy * _vel_xy_manual_max.get();
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/* Rotate setpoint into local frame. */
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matrix::Quatf q_yaw = matrix::AxisAnglef(matrix::Vector3f(0.0f, 0.0f, 1.0f), _yaw);
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matrix::Vector3f vel_world = q_yaw.conjugate(matrix::Vector3f(vel_sp_xy(0), vel_sp_xy(1), 0.0f));
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_vel_sp(0) = vel_world(0);
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_vel_sp(1) = vel_world(1);
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}
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void FlightTaskManualPosition::_updateXYlock()
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{
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/* If position lock is not active, position setpoint is set to NAN.*/
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const float vel_xy_norm = Vector2f(&_velocity(0)).length();
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const bool apply_brake = Vector2f(&_vel_sp(0)).length() < FLT_EPSILON;
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const bool stopped = (_vel_hold_thr_xy.get() < FLT_EPSILON || vel_xy_norm < _vel_hold_thr_xy.get());
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if (apply_brake && stopped && !PX4_ISFINITE(_pos_sp(0))) {
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_pos_sp(0) = _position(0);
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_pos_sp(1) = _position(1);
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} else if (!apply_brake) {
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/* don't lock*/
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_pos_sp(0) = NAN;
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_pos_sp(1) = NAN;
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}
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}
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void FlightTaskManualPosition::_updateSetpoints()
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{
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FlightTaskManualAltitude::_updateSetpoints(); // needed to get yaw and setpoints in z-direction
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_thr_sp *= NAN; // don't require any thrust setpoints
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_updateXYlock(); // check for position lock
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}
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