Sticks.cpp
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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 Sticks.cpp
*/
#include "Sticks.hpp"
using namespace time_literals;
using namespace matrix;
Sticks::Sticks(ModuleParams *parent) :
ModuleParams(parent)
{};
bool Sticks::checkAndSetStickInputs()
{
// Sticks are rescaled linearly and exponentially to [-1,1]
manual_control_setpoint_s manual_control_setpoint;
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
// Linear scale
_positions(0) = manual_control_setpoint.x; // NED x, pitch [-1,1]
_positions(1) = manual_control_setpoint.y; // NED y, roll [-1,1]
_positions(2) = -(math::constrain(manual_control_setpoint.z, 0.0f,
1.0f) - 0.5f) * 2.f; // NED z, thrust resacaled from [0,1] to [-1,1]
_positions(3) = manual_control_setpoint.r; // yaw [-1,1]
// Exponential scale
_positions_expo(0) = math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
_positions_expo(1) = math::expo_deadzone(_positions(1), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
_positions_expo(2) = math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(), _param_mpc_hold_dz.get());
_positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(), _param_mpc_hold_dz.get());
// valid stick inputs are required
const bool valid_sticks = PX4_ISFINITE(_positions(0))
&& PX4_ISFINITE(_positions(1))
&& PX4_ISFINITE(_positions(2))
&& PX4_ISFINITE(_positions(3));
_input_available = valid_sticks;
} else {
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.update(&vehicle_status)) {
if (vehicle_status.rc_signal_lost) {
_input_available = false;
}
}
}
if (!_input_available) {
// Timeout: set all sticks to zero
_positions.zero();
_positions_expo.zero();
}
return _input_available;
}
void Sticks::limitStickUnitLengthXY(Vector2f &v)
{
const float vl = v.length();
if (vl > 1.0f) {
v /= vl;
}
}
void Sticks::rotateIntoHeadingFrameXY(Vector2f &v, const float yaw, const float yaw_setpoint)
{
Vector3f v3(v(0), v(1), 0.f);
const float yaw_rotate = PX4_ISFINITE(yaw_setpoint) ? yaw_setpoint : yaw;
v = Vector2f(Dcmf(Eulerf(0.0f, 0.0f, yaw_rotate)) * v3);
}