forked from Archive/PX4-Autopilot
FlightModeManager: Add task for position slow mode
This commit is contained in:
Matthias Grob
parent
ef0926d64b
commit
54ce9813c8
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@ -234,6 +234,7 @@ set(msg_files
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VehicleTorqueSetpoint.msg
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VehicleTrajectoryBezier.msg
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VehicleTrajectoryWaypoint.msg
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VelocityLimits.msg
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VtolVehicleStatus.msg
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WheelEncoders.msg
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Wind.msg
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@ -0,0 +1,8 @@
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# Velocity and yaw rate limits for a multicopter position slow mode only
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uint64 timestamp # time since system start (microseconds)
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# absolute speeds, NAN means use default limit
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float32 horizontal_velocity # [m/s]
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float32 vertical_velocity # [m/s]
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float32 yaw_rate # [rad/s]
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@ -43,6 +43,7 @@ list(APPEND flight_tasks_all
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Descend
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Failsafe
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ManualAcceleration
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ManualAccelerationSlow
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ManualAltitude
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ManualAltitudeSmoothVel
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ManualPosition
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@ -196,6 +196,13 @@ void FlightModeManager::start_flight_task()
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}
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}
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// position slow mode
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if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW) {
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found_some_task = true;
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FlightTaskError error = switchTask(FlightTaskIndex::ManualAccelerationSlow);
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task_failure = error != FlightTaskError::NoError;
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}
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// Manual position control
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if ((_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL) || task_failure) {
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found_some_task = true;
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@ -0,0 +1,39 @@
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############################################################################
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#
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# Copyright (c) 2023 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(FlightTaskManualAccelerationSlow
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FlightTaskManualAccelerationSlow.cpp
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)
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target_include_directories(FlightTaskManualAccelerationSlow PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(FlightTaskManualAccelerationSlow PUBLIC FlightTaskManualAcceleration FlightTaskUtility)
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@ -0,0 +1,138 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file FlightTaskManualAccelerationSlow.cpp
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*/
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#include "FlightTaskManualAccelerationSlow.hpp"
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#include <px4_platform_common/events.h>
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using namespace time_literals;
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bool FlightTaskManualAccelerationSlow::update()
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{
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// Used to apply a configured default slowdown if neither MAVLink nor remote knob commands limits
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bool velocity_horizontal_limited = false;
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bool velocity_vertical_limited = false;
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bool yaw_rate_limited = false;
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// Limits which can only slow down from the nominal configuration we initialize with here
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// This is ensured by the executing classes
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float velocity_horizontal = _param_mpc_vel_manual.get();
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float velocity_up = _param_mpc_z_vel_max_up.get();
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float velocity_down = _param_mpc_z_vel_max_dn.get();
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float yaw_rate = math::radians(_param_mpc_man_y_max.get());
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// MAVLink commanded limits
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if (_velocity_limits_sub.update(&_velocity_limits)) {
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_velocity_limits_received_before = true;
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}
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if (_velocity_limits_received_before) {
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// message received once since mode was started
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if (PX4_ISFINITE(_velocity_limits.horizontal_velocity)) {
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velocity_horizontal = fmaxf(_velocity_limits.horizontal_velocity, _param_posslow_min_hvel.get());
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velocity_horizontal_limited = true;
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}
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if (PX4_ISFINITE(_velocity_limits.vertical_velocity)) {
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velocity_up = velocity_down = fmaxf(_velocity_limits.vertical_velocity, _param_posslow_min_vvel.get());
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velocity_vertical_limited = true;
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}
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if (PX4_ISFINITE(_velocity_limits.yaw_rate)) {
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yaw_rate = fmaxf(_velocity_limits.yaw_rate, math::radians(_param_posslow_min_yawr.get()));
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yaw_rate_limited = true;
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}
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}
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// Remote knob commanded limits
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if (_param_posslow_map_hvel.get() != 0) {
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const float min_horizontal_velocity_scale = _param_posslow_min_hvel.get() / fmaxf(velocity_horizontal, FLT_EPSILON);
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const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_posslow_map_hvel.get());
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const float aux_based_scale =
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math::interpolate(aux_input, -1.f, 1.f, min_horizontal_velocity_scale, 1.f);
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velocity_horizontal *= aux_based_scale;
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velocity_horizontal_limited = true;
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}
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if (_param_posslow_map_vvel.get() != 0) {
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const float min_up_speed_scale = _param_posslow_min_vvel.get() / fmaxf(velocity_up, FLT_EPSILON);
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const float min_down_speed_scale = _param_posslow_min_vvel.get() / fmaxf(velocity_down, FLT_EPSILON);
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const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_posslow_map_vvel.get());
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const float up_aux_based_scale =
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math::interpolate(aux_input, -1.f, 1.f, min_up_speed_scale, 1.f);
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const float down_aux_based_scale =
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math::interpolate(aux_input, -1.f, 1.f, min_down_speed_scale, 1.f);
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velocity_up *= up_aux_based_scale;
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velocity_down *= down_aux_based_scale;
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velocity_vertical_limited = true;
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}
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if (_param_posslow_map_yawr.get() != 0) {
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const float min_yaw_rate_scale = math::radians(_param_posslow_min_yawr.get()) / fmaxf(yaw_rate, FLT_EPSILON);
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const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_posslow_map_yawr.get());
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const float aux_based_scale =
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math::interpolate(aux_input, -1.f, 1.f, min_yaw_rate_scale, 1.f);
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yaw_rate *= aux_based_scale;
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yaw_rate_limited = true;
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}
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// No input from remote and MAVLink -> use default slow mode limits
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if (!velocity_horizontal_limited) {
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velocity_horizontal = _param_posslow_def_hvel.get();
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}
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if (!velocity_vertical_limited) {
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velocity_up = velocity_down = _param_posslow_def_vvel.get();
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}
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if (!yaw_rate_limited) {
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yaw_rate = math::radians(_param_posslow_def_yawr.get());
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}
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// Interface to set resulting velocity limits
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FlightTaskManualAcceleration::_stick_acceleration_xy.setVelocityConstraint(velocity_horizontal);
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FlightTaskManualAltitude::_velocity_constraint_up = velocity_up;
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FlightTaskManualAltitude::_velocity_constraint_down = velocity_down;
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FlightTaskManualAcceleration::_stick_yaw.setYawspeedConstraint(yaw_rate);
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return FlightTaskManualAcceleration::update();
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}
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float FlightTaskManualAccelerationSlow::getInputFromSanitizedAuxParameterIndex(int parameter_value)
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{
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const int sanitized_index = math::constrain(parameter_value - 1, 0, 5);
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return _sticks.getAux()(sanitized_index);
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}
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@ -0,0 +1,88 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file FlightTaskManualAccelerationSlow.hpp
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*
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* Flight task for manual position mode with knobs for slower velocity and acceleration.
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*
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*/
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#pragma once
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#include "FlightTaskManualAcceleration.hpp"
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#include "StickAccelerationXY.hpp"
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#include <lib/weather_vane/WeatherVane.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/velocity_limits.h>
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#include <systemlib/mavlink_log.h>
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class FlightTaskManualAccelerationSlow : public FlightTaskManualAcceleration
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{
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public:
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FlightTaskManualAccelerationSlow() = default;
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~FlightTaskManualAccelerationSlow() = default;
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bool update() override;
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private:
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/**
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* Get the input from a sanitized parameter aux index
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* @param parameter_value value of the parameter that specifies the AUX channel index to use
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* @return input from that AUX channel [-1,1]
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*/
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float getInputFromSanitizedAuxParameterIndex(int parameter_value);
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bool _velocity_limits_received_before{false};
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uORB::Subscription _velocity_limits_sub{ORB_ID(velocity_limits)};
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velocity_limits_s _velocity_limits{};
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAcceleration,
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(ParamInt<px4::params::POSSLOW_MAP_HVEL>) _param_posslow_map_hvel,
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(ParamInt<px4::params::POSSLOW_MAP_VVEL>) _param_posslow_map_vvel,
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(ParamInt<px4::params::POSSLOW_MAP_YAWR>) _param_posslow_map_yawr,
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(ParamFloat<px4::params::POSSLOW_MIN_HVEL>) _param_posslow_min_hvel,
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(ParamFloat<px4::params::POSSLOW_MIN_VVEL>) _param_posslow_min_vvel,
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(ParamFloat<px4::params::POSSLOW_MIN_YAWR>) _param_posslow_min_yawr,
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(ParamFloat<px4::params::POSSLOW_DEF_HVEL>) _param_posslow_def_hvel,
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(ParamFloat<px4::params::POSSLOW_DEF_VVEL>) _param_posslow_def_vvel,
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(ParamFloat<px4::params::POSSLOW_DEF_YAWR>) _param_posslow_def_yawr,
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(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
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(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up,
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(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,
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(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
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)
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};
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@ -0,0 +1,158 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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.
|
||||
*
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****************************************************************************/
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/**
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* Manual input mapped to scale horizontal velocity in position slow mode
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*
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* @value 0 No rescaling
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* @value 1 AUX1
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* @value 2 AUX2
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* @value 3 AUX3
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* @value 4 AUX4
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* @value 5 AUX5
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* @value 6 AUX6
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_INT32(POSSLOW_MAP_HVEL, 0);
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/**
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* Manual input mapped to scale vertical velocity in position slow mode
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*
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* @value 0 No rescaling
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* @value 1 AUX1
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* @value 2 AUX2
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* @value 3 AUX3
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* @value 4 AUX4
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* @value 5 AUX5
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* @value 6 AUX6
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_INT32(POSSLOW_MAP_VVEL, 0);
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/**
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* Manual input mapped to scale yaw rate in position slow mode
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*
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* @value 0 No rescaling
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* @value 1 AUX1
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* @value 2 AUX2
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* @value 3 AUX3
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* @value 4 AUX4
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* @value 5 AUX5
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* @value 6 AUX6
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_INT32(POSSLOW_MAP_YAWR, 0);
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/**
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* Horizontal velocity lower limit
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*
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* The lowest input maps and is clamped to this velocity.
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*
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* @unit m/s
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* @min 0.1
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* @increment 0.1
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* @decimal 2
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_FLOAT(POSSLOW_MIN_HVEL, .3f);
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/**
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* Vertical velocity lower limit
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*
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* The lowest input maps and is clamped to this velocity.
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*
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* @unit m/s
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* @min 0.1
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* @increment 0.1
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* @decimal 2
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_FLOAT(POSSLOW_MIN_VVEL, .3f);
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/**
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* Yaw rate lower limit
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*
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* The lowest input maps and is clamped to this rate.
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*
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* @unit deg/s
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* @min 1
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* @increment 0.1
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* @decimal 0
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_FLOAT(POSSLOW_MIN_YAWR, 3.f);
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/**
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* Default horizontal velocity limit
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*
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* This value is used in slow mode if
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* no aux channel is mapped and
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* no limit is commanded through MAVLink.
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*
|
||||
* @unit m/s
|
||||
* @min 0.1
|
||||
* @increment 0.1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Slow Mode
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(POSSLOW_DEF_HVEL, 3.f);
|
||||
|
||||
/**
|
||||
* Default vertical velocity limit
|
||||
*
|
||||
* This value is used in slow mode if
|
||||
* no aux channel is mapped and
|
||||
* no limit is commanded through MAVLink.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.1
|
||||
* @increment 0.1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Slow Mode
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(POSSLOW_DEF_VVEL, 1.f);
|
||||
|
||||
/**
|
||||
* Default yaw rate limit
|
||||
*
|
||||
* This value is used in slow mode if
|
||||
* no aux channel is mapped and
|
||||
* no limit is commanded through MAVLink.
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 1
|
||||
* @increment 0.1
|
||||
* @decimal 0
|
||||
* @group Multicopter Position Slow Mode
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(POSSLOW_DEF_YAWR, 45.f);
|
||||
Loading…
Reference in New Issue