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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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145 lines
4.5 KiB
C++
145 lines
4.5 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 manual controlled position.
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*
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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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#include <lib/geo/geo.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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{}
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bool FlightTaskManualPosition::activate()
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{
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_pos_sp_xy = matrix::Vector2f(_position(0), _position(1));
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_vel_sp_xy = matrix::Vector2f(NAN, NAN);
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_lock_time = 0.0f;
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_lock_time_max = 1.0f; // 1s time to brake as default
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return FlightTaskManualAltitude::activate();
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}
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void FlightTaskManualPosition::scaleSticks()
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{
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/* scale all sticks including altitude and yaw */
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FlightTaskManualAltitude::scaleSticks();
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matrix::Vector2f stick_xy(_sticks_expo(0), _sticks_expo(1));
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/* constrain length of stick inputs to 1 */
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float mag = math::constrain(stick_xy.length(), 0.0f, 1.0f);
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stick_xy = stick_xy.normalized() * mag;
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/* scale to velocity */
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_vel_sp_xy = stick_xy * _vel_xy_manual_max.get();
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/* rotate setpoint into local frame */
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matrix::Vector3f vel_sp{_vel_sp_xy(0), _vel_sp_xy(1), 0.0f};
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vel_sp = (matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f, _yaw_sp_predicted)) * vel_sp);
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_vel_sp_xy = matrix::Vector2f(vel_sp(0), vel_sp(1));
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}
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void FlightTaskManualPosition::updateXYsetpoints()
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{
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matrix::Vector2f stick_xy(_sticks_expo(0), _sticks_expo(1));
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if (stick_xy.length() < _stick_deadzone.get()) {
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/* Want to hold position */
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if (_lock_time <= _lock_time_max) {
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/* Don't lock: time has not been reached */
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_vel_sp_xy.zero();
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_pos_sp_xy = matrix::Vector2f(NAN, NAN);
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_lock_time += _deltatime;
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} else {
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/* want to hold position */
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_vel_sp_xy = matrix::Vector2f(NAN, NAN);
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_pos_sp_xy = matrix::Vector2f(&(_position(0)));
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}
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} else {
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/* Want to change position */
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_pos_sp_xy = matrix::Vector2f(NAN, NAN);
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/* Time to brake depends on
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* maximum acceleration.
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*/
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if (PX4_ISFINITE(_acc_xy_max.get())) {
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_lock_time_max = matrix::Vector2f(&(_velocity(0))).length() / _acc_xy_max.get();
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} else {
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_lock_time_max = 1.0f; // 1 second time to brake if no acceleration is set
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}
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_lock_time = 0.0f;
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}
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}
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void FlightTaskManualPosition::updateSetpoints()
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{
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/* scale all sticks */
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scaleSticks();
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/* update all setpoints */
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FlightTaskManualAltitude::updateSetpoints();
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updateXYsetpoints();
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}
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bool FlightTaskManualPosition::update()
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{
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scaleSticks();
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updateSetpoints();
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_setPositionSetpoint(Vector3f(_pos_sp_xy(0), _pos_sp_xy(1), _pos_sp_z));
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_setVelocitySetpoint(Vector3f(_vel_sp_xy(0), _vel_sp_xy(1), _vel_sp_z));
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_setYawSetpoint(_yaw_sp);
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_setYawspeedSetpoint(_yaw_rate_sp);
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return true;
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}
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