bizhang_-obav/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp

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/**
 * @file FlightTaskManual.hpp
 *
 * Flight task for manual controlled altitude.
 *
 */

#include "FlightTaskManualAltitude.hpp"
#include <mathlib/mathlib.h>
#include <float.h>
#include <lib/geo/geo.h>

using namespace matrix;

FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent, const char *name) :
	FlightTaskManual(parent, name),
	_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
	_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
	_yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false)
{}

bool FlightTaskManualAltitude::activate()
{
	_pos_sp_predicted = _pos_sp_z = _position(2);
	_yaw_sp_predicted = _yaw_sp = _yaw;
	_yaw_rate_sp = _vel_sp_z = NAN;

	return FlightTaskManual::activate();
}

void FlightTaskManualAltitude::scaleSticks()
{

	/* map stick to velocity */
	const float vel_max_z = (_sticks(2) > 0.0f) ? _vel_max_down.get() : _vel_max_up.get();
	_vel_sp_z = vel_max_z * _sticks_expo(2);
	_yaw_rate_sp = _sticks(3) * math::radians(_yaw_rate_scaling.get());

}

void FlightTaskManualAltitude::updateHeadingSetpoints()
{
	if (fabsf(_sticks(3)) < FLT_EPSILON) {
		/* want to hold yaw */
		_yaw_rate_sp = NAN;
		_yaw_sp = _yaw_sp_predicted;

	} else {
		/* want to change yaw based on yaw-rate */
		_yaw_sp = NAN;
		_yaw_sp_predicted = _wrap_pi(_yaw_sp_predicted + _yaw_rate_sp * _deltatime);
	}
}

void FlightTaskManualAltitude::updateZsetpoints()
{
	if (fabsf(_sticks(2)) < FLT_EPSILON) {
		/* want to hold altitude */
		_vel_sp_z = NAN;
		_pos_sp_z = _pos_sp_predicted;

	} else {
		/* want to change altitude through velocity */
		_pos_sp_z = NAN;
		_pos_sp_predicted = _position(2) + _vel_sp_z * _deltatime;
	}
}

void FlightTaskManualAltitude::updateSetpoints()
{
	updateHeadingSetpoints();
	updateZsetpoints();
}

bool FlightTaskManualAltitude::update()
{
	scaleSticks();
	updateSetpoints();


	_setPositionSetpoint(Vector3f(NAN, NAN, _pos_sp_z));
	_setVelocitySetpoint(Vector3f(NAN, NAN, _vel_sp_z));
	_setYawSetpoint(_yaw_sp);
	_setYawspeedSetpoint(_yaw_rate_sp);

	return true;
}