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104 lines
3.5 KiB
C++
104 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018-2019 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 FlightTaskManualPositionSmoothVel.hpp
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*
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* Flight task for smooth manual controlled position.
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*/
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#pragma once
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#include "FlightTaskManualPosition.hpp"
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#include "ManualVelocitySmoothingXY.hpp"
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#include "ManualVelocitySmoothingZ.hpp"
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using matrix::Vector2f;
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using matrix::Vector3f;
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class FlightTaskManualPositionSmoothVel : public FlightTaskManualPosition
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{
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public:
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FlightTaskManualPositionSmoothVel() = default;
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virtual ~FlightTaskManualPositionSmoothVel() = default;
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bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
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void reActivate() override;
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protected:
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virtual void _updateSetpoints() override;
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
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(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
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(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
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(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
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)
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private:
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void checkSetpoints(vehicle_local_position_setpoint_s &setpoints);
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void _initEkfResetCounters();
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void _initEkfResetCountersXY();
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void _initEkfResetCountersZ();
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void _checkEkfResetCounters(); /**< Reset the trajectories when the ekf resets velocity or position */
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void _checkEkfResetCountersXY();
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void _checkEkfResetCountersZ();
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void _updateTrajConstraints();
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void _updateTrajConstraintsXY();
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void _updateTrajConstraintsZ();
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void _updateTrajVelFeedback();
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void _updateTrajCurrentPositionEstimate();
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void _updateTrajectories(Vector3f vel_target);
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void _setOutputState();
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void _setOutputStateXY();
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void _setOutputStateZ();
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ManualVelocitySmoothingXY _smoothing_xy; ///< Smoothing in x and y directions
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ManualVelocitySmoothingZ _smoothing_z; ///< Smoothing in z direction
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/* counters for estimator local position resets */
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struct {
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uint8_t xy;
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uint8_t vxy;
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uint8_t z;
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uint8_t vz;
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} _reset_counters{0, 0, 0, 0};
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};
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