mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
94 lines
3.3 KiB
C++
94 lines
3.3 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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);
|
|
_smoothing[i].updateDurations(_deltatime, _velocity_setpoint(i));
|
|
}
|
|
|
|
VelocitySmoothing::timeSynchronization(_smoothing, 2);
|
|
|
|
for (int i = 0; i < 2; ++i) {
|
|
|
|
float smoothed_velocity_setpoint, smoothed_position_setpoint;
|
|
_smoothing[i].integrate(_position(i), smoothed_velocity_setpoint, smoothed_position_setpoint);
|
|
_position_setpoint(i) = smoothed_position_setpoint;
|
|
_velocity_setpoint(i) = smoothed_velocity_setpoint;
|
|
}
|
|
|
|
// TODO: z
|
|
}
|