PX4 Firmware
PX4 Autopilot Software http://px4.io
FlightTaskManualPositionSmoothVel.hpp
Go to the documentation of this file.
1 /****************************************************************************
2  *
3  * Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions
7  * are met:
8  *
9  * 1. Redistributions of source code must retain the above copyright
10  * notice, this list of conditions and the following disclaimer.
11  * 2. Redistributions in binary form must reproduce the above copyright
12  * notice, this list of conditions and the following disclaimer in
13  * the documentation and/or other materials provided with the
14  * distribution.
15  * 3. Neither the name PX4 nor the names of its contributors may be
16  * used to endorse or promote products derived from this software
17  * without specific prior written permission.
18  *
19  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26  * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  *
32  ****************************************************************************/
33 
34 /**
35  * @file FlightTaskManualPositionSmoothVel.hpp
36  *
37  * Flight task for smooth manual controlled position.
38  */
39 
40 #pragma once
41 
45 
46 using matrix::Vector2f;
47 using matrix::Vector3f;
48 
50 {
51 public:
53 
54  virtual ~FlightTaskManualPositionSmoothVel() = default;
55 
56  bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
57  void reActivate() override;
58 
59 protected:
60 
61  virtual void _updateSetpoints() override;
62 
63  /** Reset position or velocity setpoints in case of EKF reset event */
64  void _ekfResetHandlerPositionXY() override;
65  void _ekfResetHandlerVelocityXY() override;
66  void _ekfResetHandlerPositionZ() override;
67  void _ekfResetHandlerVelocityZ() override;
68 
69  DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
70  (ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
71  (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
72  (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
73  )
74 
75 private:
76  void checkSetpoints(vehicle_local_position_setpoint_s &setpoints);
77 
81 
84 
85  void _updateTrajectories(Vector3f vel_target);
86 
87  void _setOutputState();
88  void _setOutputStateXY();
89  void _setOutputStateZ();
90 
91  ManualVelocitySmoothingXY _smoothing_xy; ///< Smoothing in x and y directions
92  ManualVelocitySmoothingZ _smoothing_z; ///< Smoothing in z direction
93 };
ManualVelocitySmoothingXY _smoothing_xy
Smoothing in x and y directions.
void reActivate() override
Call this to reset an active Flight Task.
ManualVelocitySmoothingZ _smoothing_z
Smoothing in z direction.
Flight task for manual position controlled mode.
virtual void _updateSetpoints() override
updates all setpoints
bool activate(vehicle_local_position_setpoint_s last_setpoint) override
Call once on the event where you switch to the task.
Vector2< float > Vector2f
Definition: Vector2.hpp:69
virtual ~FlightTaskManualPositionSmoothVel()=default
Vector3< float > Vector3f
Definition: Vector3.hpp:136
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,(ParamFloat< px4::params::MPC_JERK_MAX >) _param_mpc_jerk_max,(ParamFloat< px4::params::MPC_ACC_UP_MAX >) _param_mpc_acc_up_max,(ParamFloat< px4::params::MPC_ACC_DOWN_MAX >) _param_mpc_acc_down_max) private void _updateTrajConstraints()
void _ekfResetHandlerPositionXY() override
Reset position or velocity setpoints in case of EKF reset event.