ManualSmoothingZ.hpp

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/**
 * @file SmoothingZ.hpp
 *
 * This Class is used for smoothing the velocity setpoints in Z-direction.
 * In manual altitude control apply acceleration limit based on stick input.
 */

#pragma once

#include <px4_platform_common/module_params.h>

/**
 * User-intention.
 * - brake: vehicle should stop
 * - acceleration: vehicle should move up or down
 */
enum class ManualIntentionZ {
    brake,
    acceleration,
};

class ManualSmoothingZ : public ModuleParams
{
public:
    ManualSmoothingZ(ModuleParams *parent, const float &vel, const float &stick);
    ~ManualSmoothingZ() = default;

    /**
     * Smooth velocity setpoint based on flight direction.
     * @param 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.
     * @param dt: time delta in seconds
     */
    void smoothVelFromSticks(float &vel_sp, const float dt);

    /**
     * Get max accleration.
     */
    float getMaxAcceleration() { return _max_acceleration; }

    /**
     * Get user intention.
     * @see ManualIntentionZ
     */
    ManualIntentionZ getIntention() { return _intention; }

    /*
     * Overwrite methods:
     * Needed if different parameter values than default required.
     */
    void overwriteAccelerationUp(float acc_max_up) { _param_mpc_acc_up_max.set(acc_max_up); }
    void overwriteAccelerationDown(float acc_max_down)  {_param_mpc_acc_down_max.set(acc_max_down); }
    void overwriteJerkMax(float jerk_max)  {_param_mpc_jerk_max.set(jerk_max); }

private:
    /**
     * Add delay to velocity setpoint change.
     * This method is used to smooth the velocity setpoint change.
     * @param vel_sp current velocity setpoint
     * @param dt delta-time
     */
    void velocitySlewRate(float &vel_sp, const float dt);

    /**
     * Computes the velocity setpoint change limit.
     * This method computes the limit with which the velocity setpoint change
     * is limited.
     * @see velocitySlewRate
     * @param vel_sp current velocity setpoint
     * @param dt delta-time
     */
    void updateAcceleration(float &vel_sp, const float dt);

    /**
     * Set maximum acceleration.
     * The maximum acceleration depends on the desired direction (up vs down).
     * @see _max_acceleration
     */
    void setMaxAcceleration();

    /**
     * User intention
     * @see ManualIntentionZ
     */
    ManualIntentionZ _intention{ManualIntentionZ::acceleration};

    const float &_vel; /**< vehicle velocity (dependency injection) */
    const float &_stick; /**< stick input (dependency injection) */

    float _acc_state_dependent; /**< acceleration that depends on _intention */
    float _max_acceleration; /**< can be up or down maximum acceleration */
    float _vel_sp_prev; /**< previous velocity setpoint */

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
        (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
        (ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max
    )
};