mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
eaf4f99e38
The FlightTaskManual... tasks already had their internal setpoint member variables. I switched them to use the architecture with setpoint member variables as it was implemented the commit before. They simplify a lot.
70 lines
2.7 KiB
C++
70 lines
2.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file FlightManualPositionSmooth.cpp
|
|
*/
|
|
|
|
#include "FlightTaskManualPositionSmooth.hpp"
|
|
|
|
using namespace matrix;
|
|
|
|
FlightTaskManualPositionSmooth::FlightTaskManualPositionSmooth(control::SuperBlock *parent, const char *name) :
|
|
FlightTaskManualPosition(parent, name),
|
|
_smoothingXY(matrix::Vector2f(&_velocity(0))),
|
|
_smoothingZ(_velocity(2), _sticks(2))
|
|
{}
|
|
|
|
void FlightTaskManualPositionSmooth::_updateSetpoints()
|
|
{
|
|
/* Get yaw setpont, un-smoothed position setpoints.*/
|
|
FlightTaskManualPosition::_updateSetpoints();
|
|
|
|
/* Smooth velocity setpoint in xy.*/
|
|
matrix::Vector2f vel(&_velocity(0));
|
|
Vector2f vel_sp_xy = Vector2f(&_velocity_setpoint(0));
|
|
_smoothingXY.smoothVelocity(vel_sp_xy, vel, _yaw, _yawspeed_setpoint, _deltatime);
|
|
_velocity_setpoint(0) = vel_sp_xy(0);
|
|
_velocity_setpoint(1) = vel_sp_xy(1);
|
|
|
|
/* Check for altitude lock.*/
|
|
_updateXYlock();
|
|
|
|
/* Smooth velocity in z.*/
|
|
_smoothingZ.smoothVelFromSticks(_velocity_setpoint(2), _deltatime);
|
|
|
|
/* Check for altitude lock*/
|
|
_updateAltitudeLock();
|
|
|
|
}
|