FlightTaskManualAcceleration.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 FlightTaskManualAcceleration.cpp
*/
#include "FlightTaskManualAcceleration.hpp"
using namespace matrix;
FlightTaskManualAcceleration::FlightTaskManualAcceleration() :
_stick_acceleration_xy(this)
{};
bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoint_s &last_setpoint)
{
bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);
_stick_acceleration_xy.resetPosition();
if (PX4_ISFINITE(last_setpoint.vx) && PX4_ISFINITE(last_setpoint.vy)) {
_stick_acceleration_xy.resetVelocity(Vector2f(last_setpoint.vx, last_setpoint.vy));
} else {
_stick_acceleration_xy.resetVelocity(_velocity.xy());
}
if (PX4_ISFINITE(last_setpoint.acceleration[0]) && PX4_ISFINITE(last_setpoint.acceleration[1])) {
_stick_acceleration_xy.resetAcceleration(Vector2f(last_setpoint.acceleration[0], last_setpoint.acceleration[1]));
}
return ret;
}
bool FlightTaskManualAcceleration::update()
{
bool ret = FlightTaskManualAltitudeSmoothVel::update();
_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint,
_sticks.getPositionExpo()(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _yaw_setpoint, _position,
_velocity_setpoint_feedback.xy(), _deltatime);
_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);
_constraints.want_takeoff = _checkTakeoff();
return ret;
}
void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY()
{
_stick_acceleration_xy.resetPosition();
}
void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY()
{
_stick_acceleration_xy.resetVelocity(_velocity.xy());
}