FlightTaskManualAltitudeSmoothVel.hpp
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/****************************************************************************
*
* Copyright (c) 2019 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 FlightManualAltitudeSmoothVel.hpp
*
* Flight task for manual controlled altitude using the velocity smoothing library
*/
#pragma once
#include "FlightTaskManualAltitude.hpp"
#include "ManualVelocitySmoothingZ.hpp"
class FlightTaskManualAltitudeSmoothVel : public FlightTaskManualAltitude
{
public:
FlightTaskManualAltitudeSmoothVel() = default;
virtual ~FlightTaskManualAltitudeSmoothVel() = default;
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
void reActivate() override;
protected:
virtual void _updateSetpoints() override;
/** Reset position or velocity setpoints in case of EKF reset event */
void _ekfResetHandlerPositionZ() override;
void _ekfResetHandlerVelocityZ() override;
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
(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 _setOutputState();
ManualVelocitySmoothingZ _smoothing; ///< Smoothing in z direction
};