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147 lines
4.2 KiB
C++
147 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 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 FlightTaskManual.hpp
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*
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* Flight task for manual controlled altitude.
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*
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*/
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#include "FlightTaskManualAltitude.hpp"
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#include <mathlib/mathlib.h>
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#include <float.h>
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#include <lib/geo/geo.h>
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using namespace matrix;
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FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent, const char *name) :
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FlightTaskManual(parent, name),
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_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
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_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
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_yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false),
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_acc_max_up(parent, "MPC_ACC_UP_MAX", false),
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_acc_max_down(parent, "MPC_ACC_DOWN_MAX", false)
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{}
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bool FlightTaskManualAltitude::activate()
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{
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_yaw_sp_predicted = _yaw_sp = _yaw;
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_yaw_rate_sp = _vel_sp_z = NAN;
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_lock_time = 0.0f;
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_lock_time_max = 1.0f; // 1s time to brake as default
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return FlightTaskManual::activate();
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}
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void FlightTaskManualAltitude::scaleSticks()
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{
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/* Map stick to velocity */
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const float vel_max_z = (_sticks(2) > 0.0f) ? _vel_max_down.get() : _vel_max_up.get();
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_vel_sp_z = vel_max_z * _sticks_expo(2);
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_yaw_rate_sp = _sticks(3) * math::radians(_yaw_rate_scaling.get());
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}
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void FlightTaskManualAltitude::updateHeadingSetpoints()
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{
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if (fabsf(_sticks(3)) < FLT_EPSILON) {
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/* Want to hold yaw */
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_yaw_rate_sp = NAN;
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_yaw_sp = _yaw_sp_predicted;
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} else {
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/* Want to change yaw based on yaw-rate */
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_yaw_sp = NAN;
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_yaw_sp_predicted = _wrap_pi(_yaw_sp_predicted + _yaw_rate_sp * _deltatime);
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}
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}
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void FlightTaskManualAltitude::updateZsetpoints()
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{
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if (fabsf(_sticks(2)) < FLT_EPSILON) {
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/* Want to hold altitude */
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if (_lock_time <= _lock_time_max) {
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/* Don't lock: time has not been reached */
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_vel_sp_z = 0.0f;
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_pos_sp_z = NAN;
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_lock_time += _deltatime;
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} else {
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_vel_sp_z = NAN;
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_pos_sp_z = _position(2);
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}
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} else {
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/* Want to change altitude through velocity */
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_pos_sp_z = NAN;
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/* Maximum brake acceleration depends
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* on direction.
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*/
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float brake_acc = (_velocity(2) > 0.0f) ? _acc_max_up.get() : _acc_max_down.get();
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if (PX4_ISFINITE(brake_acc)) {
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_lock_time_max = fabsf(_velocity(2)) / brake_acc;
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} else {
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_lock_time_max = 1.0f; // 1 second time to brake if no acceleration is set
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}
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_lock_time = 0.0f;
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}
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}
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void FlightTaskManualAltitude::updateSetpoints()
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{
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updateHeadingSetpoints();
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updateZsetpoints();
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}
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bool FlightTaskManualAltitude::update()
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{
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scaleSticks();
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updateSetpoints();
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_setPositionSetpoint(Vector3f(NAN, NAN, _pos_sp_z));
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_setVelocitySetpoint(Vector3f(NAN, NAN, _vel_sp_z));
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_setYawSetpoint(_yaw_sp);
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_setYawspeedSetpoint(_yaw_rate_sp);
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return true;
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}
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