Sticks.hpp
3.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
/****************************************************************************
*
* 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.hpp
*
* Library abstracting stick input from manual_control_setpoint
*
* @author Matthias Grob <maetugr@gmail.com>
*/
#pragma once
#include <px4_platform_common/module_params.h>
#include <matrix/matrix/math.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
class Sticks : public ModuleParams
{
public:
Sticks(ModuleParams *parent);
~Sticks() = default;
bool checkAndSetStickInputs();
bool isAvailable() { return _input_available; };
const matrix::Vector<float, 4> &getPosition() { return _positions; };
const matrix::Vector<float, 4> &getPositionExpo() { return _positions_expo; };
/**
* Limit the the horizontal input from a square shaped joystick gimbal to a unit circle
* @param v Vector containing x, y, z axis of the joystick gimbal. x, y get adjusted
*/
static void limitStickUnitLengthXY(matrix::Vector2f &v);
/**
* Rotate horizontal component of joystick input into the vehicle body orientation
* @param v Vector containing x, y, z axis of the joystick input.
* @param yaw Current vehicle yaw heading
* @param yaw_setpoint Current yaw setpoint if it's locked else NAN
*/
static void rotateIntoHeadingFrameXY(matrix::Vector2f &v, const float yaw, const float yaw_setpoint);
private:
bool _input_available{false};
matrix::Vector<float, 4> _positions; ///< unmodified manual stick inputs
matrix::Vector<float, 4> _positions_expo; ///< modified manual sticks using expo function
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,
(ParamFloat<px4::params::MPC_XY_MAN_EXPO>) _param_mpc_xy_man_expo,
(ParamFloat<px4::params::MPC_Z_MAN_EXPO>) _param_mpc_z_man_expo,
(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo
)
};