StickAccelerationXY.hpp
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/****************************************************************************
*
* Copyright (c) 2020 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 StickAccelerationXY.hpp
* @brief Generate horizontal position, velocity and acceleration from stick input
* @author Matthias Grob <maetugr@gmail.com>
*/
#pragma once
#include <px4_platform_common/module_params.h>
#include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
#include <matrix/math.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/takeoff_status.h>
#include "SlewRate.hpp"
class StickAccelerationXY : public ModuleParams
{
public:
StickAccelerationXY(ModuleParams *parent);
~StickAccelerationXY() = default;
void resetPosition();
void resetVelocity(const matrix::Vector2f &velocity);
void resetAcceleration(const matrix::Vector2f &acceleration);
void generateSetpoints(matrix::Vector2f stick_xy, const float yaw, const float yaw_sp, const matrix::Vector3f &pos,
const matrix::Vector2f &vel_sp_feedback, const float dt);
void getSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, matrix::Vector3f &acc_sp);
private:
void applyJerkLimit(const float dt);
matrix::Vector2f calculateDrag(matrix::Vector2f drag_coefficient, const float dt, const matrix::Vector2f &stick_xy,
const matrix::Vector2f &vel_sp);
void applyTiltLimit(matrix::Vector2f &acceleration);
void lockPosition(const matrix::Vector3f &pos, const matrix::Vector2f &vel_sp_feedback, const float dt);
uORB::Subscription _takeoff_status_sub{ORB_ID(takeoff_status)};
SlewRate<float> _acceleration_slew_rate_x;
SlewRate<float> _acceleration_slew_rate_y;
AlphaFilter<float> _brake_boost_filter;
matrix::Vector2f _position_setpoint;
matrix::Vector2f _velocity_setpoint;
matrix::Vector2f _acceleration_setpoint;
matrix::Vector2f _acceleration_setpoint_prev;
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor,
(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
(ParamFloat<px4::params::MPC_TILTMAX_AIR>) _param_mpc_tiltmax_air
)
};