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AutoSmoothVel - Override checkTakeoff with task-specific logic and reactivate z axis with downward velocity to takeoff smoothly

This commit is contained in:
bresch 2019-05-14 11:07:34 +02:00 committed by Lorenz Meier
parent 7c7d980cf0
commit bb055fdaf3
2 changed files with 14 additions and 5 deletions
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12
src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
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@ -57,10 +57,12 @@ bool FlightTaskAutoLineSmoothVel::activate()
void FlightTaskAutoLineSmoothVel::reActivate()
{
// Don't reset during takeoff TODO: Find a proper solution
// The issue here is that with a small increment of velocity setpoint (generated by this flight task), the
// land detector doesn't detect takeoff and without takeoff detection, the
// flight task is always reset.
// On ground, reset acceleration and velocity to zero
for (int i = 0; i < 2; ++i) {
_trajectory[i].reset(0.f, 0.f, _position(i));
}
_trajectory[2].reset(0.f, 0.7f, _position(2));
}
void FlightTaskAutoLineSmoothVel::_generateSetpoints()
@ -143,6 +145,7 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
// If the position setpoints are set to NAN, the values in the velocity setpoints are used as velocity targets: nothing to do here.
_checkEkfResetCounters();
_want_takeoff = false;
if (PX4_ISFINITE(_position_setpoint(0)) &&
PX4_ISFINITE(_position_setpoint(1))) {
@ -191,6 +194,7 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
_velocity_setpoint(2) = vel_sp_z;
}
_want_takeoff = _velocity_setpoint(2) < -0.3f;
}
}

7
src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
View File

@ -67,6 +67,9 @@ protected:
void _generateSetpoints() override; /**< Generate setpoints along line. */
/** determines when to trigger a takeoff (ignored in flight) */
bool _checkTakeoff() override { return _want_takeoff; };
inline float _constrainOneSide(float val, float constrain);
void _checkEkfResetCounters(); /**< Reset the trajectories when the ekf resets velocity or position */
void _generateHeading();
@ -75,7 +78,9 @@ protected:
void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
void _generateTrajectory();
VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
float _yaw_sp_prev;
float _yaw_sp_prev{NAN};
bool _want_takeoff{false};
/* counters for estimator local position resets */
struct {