FlightTaskTransition.cpp

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/**
 * @file FlightTaskTranstion.cpp
 */

#include "FlightTaskTransition.hpp"

bool FlightTaskTransition::updateInitialize()
{
    return FlightTask::updateInitialize();
}

bool FlightTaskTransition::activate(vehicle_local_position_setpoint_s last_setpoint)
{
    checkSetpoints(last_setpoint);
    _transition_altitude = last_setpoint.z;
    _transition_yaw = last_setpoint.yaw;
    _acceleration_setpoint.setAll(0.f);
    _velocity_prev = _velocity;
    return FlightTask::activate(last_setpoint);
}

void FlightTaskTransition::checkSetpoints(vehicle_local_position_setpoint_s &setpoints)
{
    // If the setpoint is unknown, set to the current estimate
    if (!PX4_ISFINITE(setpoints.z)) { setpoints.z = _position(2); }

    if (!PX4_ISFINITE(setpoints.yaw)) { setpoints.yaw = _yaw; }
}

void FlightTaskTransition::updateAccelerationEstimate()
{
    // Estimate the acceleration by filtering the raw derivative of the velocity estimate
    // This is done to provide a good estimate of the current acceleration to the next flight task after back-transition
    _acceleration_setpoint = 0.9f * _acceleration_setpoint + 0.1f * (_velocity - _velocity_prev) / _deltatime;

    if (!PX4_ISFINITE(_acceleration_setpoint(0)) ||
        !PX4_ISFINITE(_acceleration_setpoint(1)) ||
        !PX4_ISFINITE(_acceleration_setpoint(2))) {
        _acceleration_setpoint.setAll(0.f);
    }

    _velocity_prev = _velocity;
}

bool FlightTaskTransition::update()
{
    // level wings during the transition, altitude should be controlled
    _thrust_setpoint(0) = _thrust_setpoint(1) = 0.0f;
    _thrust_setpoint(2) = NAN;
    _position_setpoint *= NAN;
    _velocity_setpoint *= NAN;
    _position_setpoint(2) = _transition_altitude;

    updateAccelerationEstimate();

    _yaw_setpoint = _transition_yaw;
    return true;
}