flight_mode_manager: merge with flight_tasks

2026-05-21 09:22:18 +00:00 · 2021-01-04 10:21:47 -05:00
parent b1e442b830
commit 4d7b875ee2
79 changed files with 353 additions and 611 deletions
--- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 FlightTaskManualAcceleration.cpp
+ */
+
+#include "FlightTaskManualAcceleration.hpp"
+
+using namespace matrix;
+
+FlightTaskManualAcceleration::FlightTaskManualAcceleration() :
+	_stick_acceleration_xy(this)
+{};
+
+bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoint_s &last_setpoint)
+{
+	bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
+
+	if (PX4_ISFINITE(last_setpoint.vx)) {
+		_velocity_setpoint.xy() = Vector2f(last_setpoint.vx, last_setpoint.vy);
+
+	} else {
+		_velocity_setpoint.xy() = Vector2f(_velocity);
+	}
+
+	_stick_acceleration_xy.resetPosition();
+
+	if (PX4_ISFINITE(last_setpoint.acceleration[0])) {
+		_stick_acceleration_xy.resetAcceleration(Vector2f(last_setpoint.acceleration[0], last_setpoint.acceleration[1]));
+	}
+
+	return ret;
+}
+
+bool FlightTaskManualAcceleration::update()
+{
+	bool ret = FlightTaskManualAltitudeSmoothVel::update();
+
+	_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint,
+				       _sticks.getPositionExpo()(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
+	_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _yaw_setpoint, _position,
+			_deltatime);
+	_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);
+
+	_constraints.want_takeoff = _checkTakeoff();
+	return ret;
+}
+
+void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY()
+{
+	if (PX4_ISFINITE(_position_setpoint(0))) {
+		_position_setpoint(0) = _position(0);
+		_position_setpoint(1) = _position(1);
+	}
+}
+
+void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY()
+{
+	if (PX4_ISFINITE(_velocity_setpoint(0))) {
+		_velocity_setpoint(0) = _velocity(0);
+		_velocity_setpoint(1) = _velocity(1);
+	}
+}
+
+void FlightTaskManualAcceleration::_ekfResetHandlerPositionZ()
+{
+	if (PX4_ISFINITE(_position_setpoint(2))) {
+		_position_setpoint(2) = _position(2);
+	}
+}
+
+void FlightTaskManualAcceleration::_ekfResetHandlerVelocityZ()
+{
+	if (PX4_ISFINITE(_velocity_setpoint(2))) {
+		_velocity_setpoint(2) = _velocity(2);
+	}
+}
+
+void FlightTaskManualAcceleration::_ekfResetHandlerHeading(float delta_psi)
+{
+	if (PX4_ISFINITE(_yaw_setpoint)) {
+		_yaw_setpoint += delta_psi;
+	}
+}