mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-01 17:10:35 +08:00
Matthias Grob
88 lines
3.8 KiB
C++
88 lines
3.8 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 FlightTaskManual.hpp
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*
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* Flight task for the normal, manual position controlled flight
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* where stick inputs map basically to the velocity setpoint
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*
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* @author Matthias Grob <maetugr@gmail.com>
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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(control::SuperBlock *parent, const char *name);
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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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bool update() override;
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protected:
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matrix::Vector<float, 4> _sticks;
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bool _evaluateSticks();
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bool _sticks_data_required = true; /**< let sibling task define if it depends on stick data */
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float _get_input_frame_yaw() { return _yaw; }
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virtual void _scaleVelocity(matrix::Vector3f &velocity);
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private:
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uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
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control::BlockParamFloat _xy_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction pos mode */
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control::BlockParamFloat _z_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction pos mode */
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control::BlockParamFloat _hold_dz; /**< deadzone around the center for the sticks when flying in position mode */
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control::BlockParamFloat _velocity_hor_manual; /**< target velocity in manual controlled mode at full speed */
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control::BlockParamFloat _z_vel_max_up; /**< maximal vertical velocity when flying upwards with the stick */
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control::BlockParamFloat _z_vel_max_down; /**< maximal vertical velocity when flying downwards with the stick */
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control::BlockParamFloat _hold_max_xy; /**< velocity threshold to switch into horizontal position hold */
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control::BlockParamFloat _hold_max_z; /**< velocity threshold to switch into vertical position hold */
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matrix::Vector3f _hold_position; /**< position at which the vehicle stays while the input is zero velocity */
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bool _evaluate_sticks();
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};
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