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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
104 lines
4.4 KiB
C++
104 lines
4.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 Sticks.hpp
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*
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* Library abstracting stick input from manual_control_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 <px4_platform_common/module_params.h>
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#include <matrix/matrix/math.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/vehicle_status_flags.h>
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class Sticks : public ModuleParams
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{
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public:
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Sticks(ModuleParams *parent);
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~Sticks() = default;
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// Checks for updated manual control input & updates internal values
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bool checkAndUpdateStickInputs();
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bool isAvailable() { return _input_available; };
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// Position : 0 : pitch, 1 : roll, 2 : throttle, 3 : yaw
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const matrix::Vector<float, 4> &getPosition() { return _positions; };
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const matrix::Vector<float, 4> &getPositionExpo() { return _positions_expo; };
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// Helper functions to get stick values more intuitively
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float getPitch() const { return _positions(0); }
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float getRoll() const { return _positions(1); }
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float getThrottleZeroCentered() const { return -_positions(2); } // Convert Z-axis(down) command to Up-axis frame
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float getYaw() const { return _positions(3); }
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float getPitchExpo() const { return _positions_expo(0); }
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float getRollExpo() const { return _positions_expo(1); }
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float getThrottleZeroCenteredExpo() const { return -_positions_expo(2); } // Convert Z-axis(down) command to Up-axis frame
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float getYawExpo() const { return _positions_expo(3); }
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/**
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* Limit the the horizontal input from a square shaped joystick gimbal to a unit circle
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* @param v Vector containing x, y, z axis of the joystick gimbal. x, y get adjusted
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*/
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static void limitStickUnitLengthXY(matrix::Vector2f &v);
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/**
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* Rotate horizontal component of joystick input into the vehicle body orientation
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* @param v Vector containing x, y, z axis of the joystick input.
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* @param yaw Current vehicle yaw heading
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* @param yaw_setpoint Current yaw setpoint if it's locked else NAN
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*/
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static void rotateIntoHeadingFrameXY(matrix::Vector2f &v, const float yaw, const float yaw_setpoint);
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private:
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bool _input_available{false};
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matrix::Vector<float, 4> _positions; ///< unmodified manual stick inputs
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matrix::Vector<float, 4> _positions_expo; ///< modified manual sticks using expo function
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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uORB::Subscription _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,
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(ParamFloat<px4::params::MPC_XY_MAN_EXPO>) _param_mpc_xy_man_expo,
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(ParamFloat<px4::params::MPC_Z_MAN_EXPO>) _param_mpc_z_man_expo,
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(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo
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)
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};
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