Flight Tasks: add new trajectory smoothing flight task & library

Derivation by Mathieu Bresciani: https://github.com/Auterion/trajectory_generator
2026-05-22 09:28:58 +00:00 · 2018-10-01 09:48:45 +02:00
parent deed462e62
commit 86463e4ec7
9 changed files with 503 additions and 2 deletions
--- a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+#include "FlightTaskManualPositionSmoothVel.hpp"
+
+#include <mathlib/mathlib.h>
+#include <float.h>
+
+using namespace matrix;
+
+bool FlightTaskManualPositionSmoothVel::activate()
+{
+	bool ret = FlightTaskManualPosition::activate();
+
+	// TODO: get current accel
+	for (int i = 0; i < 3; ++i) {
+		_smoothing[i].reset(0.f, _velocity(i), _position(i));
+	}
+
+	return ret;
+}
+
+void FlightTaskManualPositionSmoothVel::_updateSetpoints()
+{
+	/* Get yaw setpont, un-smoothed position setpoints.*/
+	FlightTaskManualPosition::_updateSetpoints();
+
+	/* Update constraints */
+	_smoothing[0].setMaxAccel(MPC_ACC_HOR_MAX.get());
+	_smoothing[1].setMaxAccel(MPC_ACC_HOR_MAX.get());
+	_smoothing[0].setMaxVel(_constraints.speed_xy);
+	_smoothing[1].setMaxVel(_constraints.speed_xy);
+
+	Vector2f vel_xy = Vector2f(&_velocity(0));
+	float jerk = _jerk_max.get();
+
+	if (_jerk_min.get() > _jerk_max.get()) {
+		_jerk_min.set(0.f);
+	}
+
+	if (_jerk_min.get() > FLT_EPSILON) {
+		// interpolate between min and max jerk
+		jerk = math::min(_jerk_min.get() + (_jerk_max.get() - _jerk_min.get()) * vel_xy.length() / _constraints.speed_xy,
+				 _jerk_max.get());
+	}
+
+	for (int i = 0; i < 2; ++i) {
+		_smoothing[i].setMaxJerk(jerk);
+
+		float smoothed_velocity_setpoint, smoothed_position_setpoint;
+		_smoothing[i].update(_deltatime, _position(i), _velocity_setpoint(i),
+				     smoothed_velocity_setpoint, smoothed_position_setpoint);
+		_position_setpoint(i) = smoothed_position_setpoint;
+		_velocity_setpoint(i) = smoothed_velocity_setpoint;
+	}
+
+	// TODO: z
+}