#include <ManualSmoothingZ.hpp>

Inheritance diagram for ManualSmoothingZ:

Collaboration diagram for ManualSmoothingZ:

Public Member Functions
	ManualSmoothingZ (ModuleParams *parent, const float &vel, const float &stick)

	~ManualSmoothingZ ()=default

void	smoothVelFromSticks (float &vel_sp, const float dt)
	Smooth velocity setpoint based on flight direction. More...

float	getMaxAcceleration ()
	Get max accleration. More...

ManualIntentionZ	getIntention ()
	Get user intention. More...

void	overwriteAccelerationUp (float acc_max_up)

void	overwriteAccelerationDown (float acc_max_down)

void	overwriteJerkMax (float jerk_max)

Private Member Functions
void	velocitySlewRate (float &vel_sp, const float dt)
	Add delay to velocity setpoint change. More...

void	updateAcceleration (float &vel_sp, const float dt)
	Computes the velocity setpoint change limit. More...

void	setMaxAcceleration ()
	Set maximum acceleration. More...

Private Attributes
ManualIntentionZ	_intention {ManualIntentionZ::acceleration}
	User intention. More...

const float &	_vel
	vehicle velocity (dependency injection) More...

const float &	_stick
	stick input (dependency injection) More...

float	_acc_state_dependent
	acceleration that depends on _intention More...

float	_max_acceleration
	can be up or down maximum acceleration More...

float	_vel_sp_prev
	previous velocity setpoint More...

Detailed Description

Definition at line 55 of file ManualSmoothingZ.hpp.

Constructor & Destructor Documentation

◆ ManualSmoothingZ()

ManualSmoothingZ::ManualSmoothingZ	(	ModuleParams *	parent,
		const float &	vel,
		const float &	stick
	)

Definition at line 42 of file ManualSmoothingZ.cpp.

References _acc_state_dependent, and _max_acceleration.

◆ ~ManualSmoothingZ()

ManualSmoothingZ::~ManualSmoothingZ ( )

default

Member Function Documentation

◆ getIntention()

ManualIntentionZ ManualSmoothingZ::getIntention ( )

inline

Get user intention.

See also: ManualIntentionZ

Definition at line 79 of file ManualSmoothingZ.hpp.

Referenced by SmoothZTest::accelerateDownwardFromBrake(), SmoothZTest::accelerateUpwardFromBrake(), SmoothZTest::brakeDownward(), and SmoothZTest::brakeUpward().

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◆ getMaxAcceleration()

float ManualSmoothingZ::getMaxAcceleration ( )

inline

Get max accleration.

Definition at line 73 of file ManualSmoothingZ.hpp.

Referenced by SmoothZTest::accelerateDownwardFromBrake(), SmoothZTest::accelerateUpwardFromBrake(), SmoothZTest::brakeDownward(), SmoothZTest::brakeUpward(), and updateAcceleration().

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◆ overwriteAccelerationDown()

void ManualSmoothingZ::overwriteAccelerationDown ( float acc_max_down )

inline

Definition at line 86 of file ManualSmoothingZ.hpp.

Referenced by SmoothZTest::accelerateDownwardFromBrake(), SmoothZTest::accelerateUpwardFromBrake(), SmoothZTest::brakeDownward(), and SmoothZTest::brakeUpward().

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◆ overwriteAccelerationUp()

void ManualSmoothingZ::overwriteAccelerationUp ( float acc_max_up )

inline

Definition at line 85 of file ManualSmoothingZ.hpp.

Referenced by SmoothZTest::accelerateDownwardFromBrake(), SmoothZTest::accelerateUpwardFromBrake(), SmoothZTest::brakeDownward(), and SmoothZTest::brakeUpward().

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◆ overwriteJerkMax()

void ManualSmoothingZ::overwriteJerkMax ( float jerk_max )

inline

Definition at line 87 of file ManualSmoothingZ.hpp.

Referenced by SmoothZTest::accelerateDownwardFromBrake(), SmoothZTest::accelerateUpwardFromBrake(), SmoothZTest::brakeDownward(), and SmoothZTest::brakeUpward().

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◆ setMaxAcceleration()

void ManualSmoothingZ::setMaxAcceleration ( )

private

Set maximum acceleration.

The maximum acceleration depends on the desired direction (up vs down).

See also: _max_acceleration

Definition at line 116 of file ManualSmoothingZ.cpp.

References _max_acceleration, _stick, _vel_sp_prev, f(), and FLT_EPSILON.

Referenced by updateAcceleration().

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◆ smoothVelFromSticks()

void ManualSmoothingZ::smoothVelFromSticks	(	float &	vel_sp,
		const float	dt
	)

Smooth velocity setpoint based on flight direction.

Parameters

vel_sp[2]	array: vel_sp[0] = current velocity set-point; vel_sp[1] = previous velocity set-point vel_sp will contain smoothed current / previous set-point.
dt	time delta in seconds

Definition at line 51 of file ManualSmoothingZ.cpp.

References _vel_sp_prev, updateAcceleration(), and velocitySlewRate().

Referenced by FlightTaskManualAltitudeSmooth::_updateSetpoints(), FlightTaskManualPositionSmooth::_updateSetpoints(), SmoothZTest::accelerateDownwardFromBrake(), SmoothZTest::accelerateUpwardFromBrake(), SmoothZTest::brakeDownward(), and SmoothZTest::brakeUpward().

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