ManualVelocitySmoothingXY.cpp
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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.
*
****************************************************************************/
#include "ManualVelocitySmoothingXY.hpp"
#include <mathlib/mathlib.h>
#include <float.h>
using namespace matrix;
void ManualVelocitySmoothingXY::reset(const Vector2f &accel, const Vector2f &vel, const Vector2f &pos)
{
for (int i = 0; i < 2; i++) {
_trajectory[i].reset(accel(i), vel(i), pos(i));
}
resetPositionLock();
}
void ManualVelocitySmoothingXY::resetPositionLock()
{
_position_lock_active = false;
_position_setpoint_locked(0) = NAN;
_position_setpoint_locked(1) = NAN;
}
void ManualVelocitySmoothingXY::update(float dt, const Vector2f &velocity_target)
{
// Update state
updateTrajectories(dt);
// Lock or unlock position
// Has to be done before _updateTrajDurations()
checkPositionLock(velocity_target);
// Update durations and sync XY
updateTrajDurations(velocity_target);
}
void ManualVelocitySmoothingXY::updateTrajectories(float dt)
{
for (int i = 0; i < 2; ++i) {
_trajectory[i].updateTraj(dt);
_state.j(i) = _trajectory[i].getCurrentJerk();
_state.a(i) = _trajectory[i].getCurrentAcceleration();
_state.v(i) = _trajectory[i].getCurrentVelocity();
_state.x(i) = _trajectory[i].getCurrentPosition();
}
}
void ManualVelocitySmoothingXY::updateTrajDurations(const Vector2f &velocity_target)
{
for (int i = 0; i < 2; ++i) {
_trajectory[i].updateDurations(velocity_target(i));
}
VelocitySmoothing::timeSynchronization(_trajectory, 2);
}
void ManualVelocitySmoothingXY::checkPositionLock(const Vector2f &velocity_target)
{
/**
* During a position lock -> position unlock transition, we have to make sure that the velocity setpoint
* is continuous. We know that the output of the position loop (part of the velocity setpoint)
* will suddenly become null
* and only the feedforward (generated by this flight task) will remain.
* This is why the previous input of the velocity controller
* is used to set current velocity of the trajectory.
*/
if (_state.v.length() < 0.1f &&
_state.a.length() < .2f &&
velocity_target.length() <= FLT_EPSILON) {
// Lock position
_position_lock_active = true;
_position_setpoint_locked = _state.x;
} else {
// Unlock position
if (_position_lock_active) {
// Start the trajectory at the current velocity setpoint
_trajectory[0].setCurrentVelocity(_velocity_setpoint_feedback(0));
_trajectory[1].setCurrentVelocity(_velocity_setpoint_feedback(1));
_state.v = _velocity_setpoint_feedback;
resetPositionLock();
}
_trajectory[0].setCurrentPosition(_position_estimate(0));
_trajectory[1].setCurrentPosition(_position_estimate(1));
}
}