diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp new file mode 100644 index 0000000000..3c866f9c7b --- /dev/null +++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp @@ -0,0 +1,106 @@ +/**************************************************************************** + * + * Copyright (c) 2017 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 FlightManualStabilized.cpp + * + * Flight task for manual controlled attitude. + * It generates thrust and yaw setpoints. + * TODO: add thrust + */ + +#include "FlightTaskManualStabilized.hpp" +#include +#include +#include + +using namespace matrix; + +FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *parent, const char *name) : + FlightTaskManual(parent, name), + _yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false) +{} + +bool FlightTaskManualStabilized::activate() +{ + _yaw_sp = _yaw; + _yaw_rate_sp = 0.0f; + _sign_speed = 1.0f; + return FlightTaskManual::activate(); +} + +void FlightTaskManualStabilized::_scaleSticks() +{ + /* Scale sticks to yaw and thrust using + * linear scale. + * TODO: add thrust */ + _yaw_rate_sp = _sticks(3) * math::radians(_yaw_rate_scaling.get()); +} + +void FlightTaskManualStabilized::_updateHeadingSetpoints() +{ + /* Yaw-lock depends on stick input. If locked, + * yawspeed_sp is set to NAN. Otherwise yaw_sp is set + * to NAN.*/ + const bool stick_yaw_zero = fabsf(_sticks(3)) <= _stick_dz.get(); + + if (stick_yaw_zero && !PX4_ISFINITE(_yaw_sp)) { + _yaw_sp = _wrap_pi(_yaw + _sign_speed * _yaw_rate_scaling.get() * _deltatime); + + } else if (!stick_yaw_zero) { + _yaw_sp = NAN; + _sign_speed = math::sign(_yaw_rate_sp); + } +} + +void FlightTaskManualStabilized::_updateThrustSetpoints() +{ + // TODO +} + +void FlightTaskManualStabilized::_updateSetpoints() +{ + _updateHeadingSetpoints(); + //_updateThrustSetpoints(); +} + +bool FlightTaskManualStabilized::update() +{ + _scaleSticks(); // scales sticks linearly to yaw/yawspeed and thrust + _updateSetpoints(); // applies yaw and position lock if required + _setYawSetpoint(_yaw_sp); + _setYawspeedSetpoint(_yaw_rate_sp); + //_setThrustSetpoint(...) TODO + + return true; +} diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp new file mode 100644 index 0000000000..f324fa3e2d --- /dev/null +++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp @@ -0,0 +1,71 @@ +/**************************************************************************** + * + * Copyright (c) 2017 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 FlightManualStabilized.hpp + * + * Flight task for manual controlled attitude. + * It generates thrust and yaw setpoints. + * TODO: add thrust + */ + +#pragma once + +#include "FlightTaskManual.hpp" + +class FlightTaskManualStabilized : public FlightTaskManual +{ +public: + FlightTaskManualStabilized(control::SuperBlock *parent, const char *name); + + virtual ~FlightTaskManualStabilized() = default; + + bool activate() override; + + bool update() override; + +protected: + float _yaw_rate_sp{}; /**< Scaled yaw rate from stick. NAN if yaw is locked. */ + float _yaw_sp{}; /**< Yaw setpoint once locked. Otherwise NAN. */ + + virtual void _updateSetpoints(); /**< Updates all setpoints. */ + virtual void _scaleSticks(); /**< Scales sticks to yaw and thrust. */ + +private: + float _sign_speed{}; + void _updateHeadingSetpoints(); /**< Sets yaw or yaw speed. */ + void _updateThrustSetpoints(); /**< Sets thrust setpoint */ + + control::BlockParamFloat _yaw_rate_scaling; /**< Scaling factor from stick to yaw rate. */ + +};