flight_mode_manager: Extracted position trajectory motion planning into a library

Extract the functionality to plan smooth position motion trajectories into a
motion planning library, such that it can be used in other parts of the code as well.

.clang-tidy

@@ -82,6 +82,7 @@ Checks:          '*,
                   -modernize-use-equals-delete,
                   -modernize-use-override,
                   -modernize-use-using,
+                  -modernize-use-trailing-return-type,
                   -performance-inefficient-string-concatenation,
                   -readability-avoid-const-params-in-decls,
                   -readability-container-size-empty,

src/lib/motion_planning/CMakeLists.txt

@@ -33,8 +33,10 @@
 
 px4_add_library(motion_planning
 	VelocitySmoothing.cpp
+	PositionSmoothing.cpp
 )
 
 target_include_directories(motion_planning PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 px4_add_unit_gtest(SRC VelocitySmoothingTest.cpp LINKLIBS motion_planning)
+px4_add_unit_gtest(SRC PositionSmoothingTest.cpp LINKLIBS motion_planning)

src/lib/motion_planning/PositionSmoothing.cpp

@@ -0,0 +1,323 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#include "PositionSmoothing.hpp"
+#include "TrajectoryConstraints.hpp"
+#include <mathlib/mathlib.h>
+#include <matrix/matrix/math.hpp>
+#include <matrix/matrix/helper_functions.hpp>
+
+
+void PositionSmoothing::generateSetpoints(
+	const Vector3f &position,
+	const Vector3f(&waypoints)[3],
+	const Vector3f &feedforward_velocity,
+	float delta_time,
+	bool force_zero_velocity_setpoint,
+	PositionSmoothingSetpoints &out_setpoints)
+{
+	Vector3f velocity_setpoint{0.f, 0.f, 0.f};
+
+	if (!force_zero_velocity_setpoint) {
+		velocity_setpoint = _generateVelocitySetpoint(position, waypoints, feedforward_velocity);
+	}
+
+	out_setpoints.unsmoothed_velocity = velocity_setpoint;
+
+	_generateTrajectory(
+		position,
+		velocity_setpoint,
+		delta_time,
+		out_setpoints
+	);
+}
+
+
+bool PositionSmoothing::_isTurning(const Vector3f &target) const
+{
+	const Vector2f vel_traj(_trajectory[0].getCurrentVelocity(),
+				_trajectory[1].getCurrentVelocity());
+	const Vector2f pos_traj(_trajectory[0].getCurrentPosition(),
+				_trajectory[1].getCurrentPosition());
+	const Vector2f target_xy(target);
+	const Vector2f u_vel_traj = vel_traj.unit_or_zero();
+	const Vector2f pos_to_target = Vector2f(target_xy - pos_traj);
+	const float cos_align = u_vel_traj * pos_to_target.unit_or_zero();
+
+	// The vehicle is turning if the angle between the velocity vector
+	// and the direction to the target is greater than 10 degrees, the
+	// velocity is large enough and the drone isn't in the acceptance
+	// radius of the last WP.
+	return (vel_traj.longerThan(0.2f)
+		&& cos_align < 0.98f
+		&& pos_to_target.longerThan(_target_acceptance_radius));
+}
+
+
+
+/* Constrain some value vith a constrain depending on the sign of the constraint
+ * Example: 	- if the constrain is -5, the value will be constrained between -5 and 0
+ * 		- if the constrain is 5, the value will be constrained between 0 and 5
+ */
+inline float _constrainOneSide(float val, float constraint)
+{
+	const float min = (constraint < FLT_EPSILON) ? constraint : 0.f;
+	const float max = (constraint > FLT_EPSILON) ? constraint : 0.f;
+
+	return math::constrain(val, min, max);
+}
+
+inline float _constrainAbs(float val, float max)
+{
+	return matrix::sign(val) * math::min(fabsf(val), fabsf(max));
+}
+
+
+float PositionSmoothing::_getMaxXYSpeed(const Vector3f(&waypoints)[3]) const
+{
+	Vector3f pos_traj(_trajectory[0].getCurrentPosition(),
+			  _trajectory[1].getCurrentPosition(),
+			  _trajectory[2].getCurrentPosition());
+
+	math::trajectory::VehicleDynamicLimits config;
+	config.z_accept_rad = _vertical_acceptance_radius;
+	config.xy_accept_rad = _target_acceptance_radius;
+	config.max_acc_xy = _trajectory[0].getMaxAccel();
+	config.max_jerk = _trajectory[0].getMaxJerk();
+	config.max_speed_xy = _cruise_speed;
+	config.max_acc_xy_radius_scale = _horizontal_trajectory_gain;
+
+	// constrain velocity to go to the position setpoint first if the position setpoint has been modified by an external source
+	// (eg. Obstacle Avoidance)
+
+	Vector3f pos_to_waypoints[3] = {pos_traj, waypoints[1], waypoints[2]};
+
+	return math::trajectory::computeXYSpeedFromWaypoints<3>(pos_to_waypoints, config);
+}
+
+float PositionSmoothing::_getMaxZSpeed(const Vector3f(&waypoints)[3]) const
+{
+
+	const auto &target = waypoints[1];
+
+	Vector3f pos_traj(_trajectory[0].getCurrentPosition(),
+			  _trajectory[1].getCurrentPosition(),
+			  _trajectory[2].getCurrentPosition());
+
+	const float distance_start_target = fabs(target(2) - pos_traj(2));
+	const float arrival_z_speed = 0.f;
+
+	float max_speed = math::min(_trajectory[2].getMaxVel(), math::trajectory::computeMaxSpeedFromDistance(
+					    _trajectory[2].getMaxJerk(), _trajectory[2].getMaxAccel(),
+					    distance_start_target, arrival_z_speed));
+
+	return max_speed;
+}
+
+const Vector3f PositionSmoothing::_getCrossingPoint(const Vector3f &position, const Vector3f(&waypoints)[3]) const
+{
+	const auto &target = waypoints[1];
+
+	if (!_isTurning(target)) {
+		return target;
+	}
+
+	// Get the crossing point using L1-style guidance
+	auto l1_point = _getL1Point(position, waypoints);
+	return {l1_point(0), l1_point(1), target(2)};
+}
+
+const Vector2f PositionSmoothing::_getL1Point(const Vector3f &position, const Vector3f(&waypoints)[3]) const
+{
+	const Vector2f pos_traj(_trajectory[0].getCurrentPosition(),
+				_trajectory[1].getCurrentPosition());
+	const Vector2f u_prev_to_target = Vector2f(waypoints[1] - waypoints[0]).unit_or_zero();
+	const Vector2f prev_to_pos(pos_traj - Vector2f(waypoints[0]));
+	const Vector2f prev_to_closest(u_prev_to_target * (prev_to_pos * u_prev_to_target));
+	const Vector2f closest_pt = Vector2f(waypoints[0]) + prev_to_closest;
+
+	// Compute along-track error using L1 distance and cross-track error
+	const float crosstrack_error = Vector2f(closest_pt - pos_traj).length();
+
+	const float l1 = math::max(_target_acceptance_radius, 5.f);
+	float alongtrack_error = 0.f;
+
+	// Protect against sqrt of a negative number
+	if (l1 > crosstrack_error) {
+		alongtrack_error = sqrtf(l1 * l1 - crosstrack_error * crosstrack_error);
+	}
+
+	// Position of the point on the line where L1 intersect the line between the two waypoints
+	const Vector2f l1_point = closest_pt + alongtrack_error * u_prev_to_target;
+
+	return l1_point;
+}
+
+const Vector3f PositionSmoothing::_generateVelocitySetpoint(const Vector3f &position, const Vector3f(&waypoints)[3],
+		const Vector3f &feedforward_velocity_setpoint)
+{
+	// Interface: A valid position setpoint generates a velocity target using conservative motion constraints.
+	// If a velocity is specified, that is used as a feedforward to track the position setpoint
+	// (ie. it assumes the position setpoint is moving at the specified velocity)
+	// If the position setpoints are set to NAN, the values in the velocity setpoints are used as velocity targets: nothing to do here.
+	auto &target = waypoints[1];
+	const bool xy_target_valid = PX4_ISFINITE(target(0)) && PX4_ISFINITE(target(1));
+	const bool z_target_valid = PX4_ISFINITE(target(2));
+
+	Vector3f velocity_setpoint = feedforward_velocity_setpoint;
+
+	if (xy_target_valid && z_target_valid) {
+		// Use 3D position setpoint to generate a 3D velocity setpoint
+		Vector3f pos_traj(_trajectory[0].getCurrentPosition(),
+				  _trajectory[1].getCurrentPosition(),
+				  _trajectory[2].getCurrentPosition());
+
+		const Vector3f u_pos_traj_to_dest((_getCrossingPoint(position, waypoints) - pos_traj).unit_or_zero());
+
+		float xy_speed = _getMaxXYSpeed(waypoints);
+		const float z_speed = _getMaxZSpeed(waypoints);
+
+		if (_isTurning(target)) {
+			// Limit speed during a turn
+			xy_speed = math::min(_max_speed_previous, xy_speed);
+
+		} else {
+			_max_speed_previous = xy_speed;
+		}
+
+		Vector3f vel_sp_constrained = u_pos_traj_to_dest * sqrtf(xy_speed * xy_speed + z_speed * z_speed);
+		math::trajectory::clampToXYNorm(vel_sp_constrained, xy_speed, 0.5f);
+		math::trajectory::clampToZNorm(vel_sp_constrained, z_speed, 0.5f);
+
+		for (int i = 0; i < 3; i++) {
+			// If available, use the existing velocity as a feedforward, otherwise replace it
+			if (PX4_ISFINITE(velocity_setpoint(i))) {
+				velocity_setpoint(i) += vel_sp_constrained(i);
+
+			} else {
+				velocity_setpoint(i) = vel_sp_constrained(i);
+			}
+		}
+	}
+
+	else if (xy_target_valid) {
+		// Use 2D position setpoint to generate a 2D velocity setpoint
+
+		// Get various path specific vectors
+		Vector2f pos_traj(_trajectory[0].getCurrentPosition(), _trajectory[1].getCurrentPosition());
+		Vector2f pos_traj_to_dest_xy = Vector2f(_getCrossingPoint(position, waypoints)) - pos_traj;
+		Vector2f u_pos_traj_to_dest_xy(pos_traj_to_dest_xy.unit_or_zero());
+
+		float xy_speed = _getMaxXYSpeed(waypoints);
+
+		if (_isTurning(target)) {
+			// Lock speed during turn
+			xy_speed = math::min(_max_speed_previous, xy_speed);
+
+		} else {
+			_max_speed_previous = xy_speed;
+		}
+
+		Vector2f vel_sp_constrained_xy = u_pos_traj_to_dest_xy * xy_speed;
+
+		for (int i = 0; i < 2; i++) {
+			// If available, use the existing velocity as a feedforward, otherwise replace it
+			if (PX4_ISFINITE(velocity_setpoint(i))) {
+				velocity_setpoint(i) += vel_sp_constrained_xy(i);
+
+			} else {
+				velocity_setpoint(i) = vel_sp_constrained_xy(i);
+			}
+		}
+	}
+
+	else if (z_target_valid) {
+		// Use Z position setpoint to generate a Z velocity setpoint
+
+		const float z_dir = matrix::sign(target(2) - _trajectory[2].getCurrentPosition());
+		const float vel_sp_z = z_dir * _getMaxZSpeed(waypoints);
+
+		// If available, use the existing velocity as a feedforward, otherwise replace it
+		if (PX4_ISFINITE(velocity_setpoint(2))) {
+			velocity_setpoint(2) += vel_sp_z;
+
+		} else {
+			velocity_setpoint(2) = vel_sp_z;
+		}
+	}
+
+	return velocity_setpoint;
+}
+
+
+void PositionSmoothing::_generateTrajectory(
+	const Vector3f &position,
+	const Vector3f &velocity_setpoint,
+	float delta_time,
+	PositionSmoothingSetpoints &out_setpoints)
+{
+	if (!PX4_ISFINITE(velocity_setpoint(0)) || !PX4_ISFINITE(velocity_setpoint(1))
+	    || !PX4_ISFINITE(velocity_setpoint(2))) {
+		return;
+	}
+
+	/* Slow down the trajectory by decreasing the integration time based on the position error.
+	 * This is only performed when the drone is behind the trajectory
+	 */
+	Vector2f position_trajectory_xy(_trajectory[0].getCurrentPosition(), _trajectory[1].getCurrentPosition());
+	Vector2f position_xy(position);
+	Vector2f vel_traj_xy(_trajectory[0].getCurrentVelocity(), _trajectory[1].getCurrentVelocity());
+	Vector2f drone_to_trajectory_xy(position_trajectory_xy - position_xy);
+	float position_error = drone_to_trajectory_xy.length();
+
+	float time_stretch = 1.f - math::constrain(position_error / _max_allowed_horizontal_error, 0.f, 1.f);
+
+	// Don't stretch time if the drone is ahead of the position setpoint
+	if (drone_to_trajectory_xy.dot(vel_traj_xy) < 0.f) {
+		time_stretch = 1.f;
+	}
+
+	for (int i = 0; i < 3; ++i) {
+		_trajectory[i].updateTraj(delta_time, time_stretch);
+		out_setpoints.jerk(i) = _trajectory[i].getCurrentJerk();
+		out_setpoints.acceleration(i) = _trajectory[i].getCurrentAcceleration();
+		out_setpoints.velocity(i) = _trajectory[i].getCurrentVelocity();
+		out_setpoints.position(i) = _trajectory[i].getCurrentPosition();
+	}
+
+	for (int i = 0; i < 3; ++i) {
+		_trajectory[i].updateDurations(velocity_setpoint(i));
+	}
+
+	VelocitySmoothing::timeSynchronization(_trajectory, 3);
+}

src/lib/motion_planning/PositionSmoothing.hpp

@@ -0,0 +1,393 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <cmath>
+#include <motion_planning/VelocitySmoothing.hpp>
+
+#include <matrix/matrix/math.hpp>
+#include <px4_defines.h>
+
+using matrix::Vector2f;
+using matrix::Vector3f;
+
+/**
+ * @brief Class that generates setpoints for a smooth trajectory
+ * to position waypoints.
+ *
+ * This is achieved by first generating an unsmoothed velocity setpoint
+ * which then gets smoothed using the VelocitySmoothing library.
+ */
+class PositionSmoothing
+{
+
+public:
+	/**
+	 * @brief Result type of the position smoothing algorithm.
+	 * The included values shall then be used as setpoints for
+	 * the controllers.
+	 */
+	struct PositionSmoothingSetpoints {
+		Vector3f jerk;
+		Vector3f acceleration;
+		Vector3f velocity;
+		Vector3f position;
+		Vector3f unsmoothed_velocity;
+	};
+
+	/**
+	 * @brief Generates new setpoints for jerk, acceleration, velocity and position
+	 * to reach the given waypoint smoothly from current position.
+	 *
+	 * @param position Current position of the vehicle
+	 * @param waypoints 0: Past waypoint, 1: target, 2: Target after next target
+	 * @param feedforward_velocity FF velocity
+	 * @param delta_time Time since last invocation of the function
+	 * @param force_zero_velocity_setpoint Force vehicle to stop. Generate trajectory that ends with still vehicle.
+	 * @param out_setpoints Output of the generated setpoints
+	 */
+	void generateSetpoints(
+		const Vector3f &position,
+		const Vector3f(&waypoints)[3],
+		const Vector3f &feedforward_velocity,
+		float delta_time,
+		bool force_zero_velocity_setpoint,
+		PositionSmoothingSetpoints &out_setpoints
+	);
+
+	/**
+	 * @brief Reset internal state to the given values
+	 *
+	 * @param acceleration current acceleration
+	 * @param velocity current velocity
+	 * @param position current position
+	 */
+	void reset(const Vector3f &acceleration, const Vector3f &velocity, const Vector3f &position)
+	{
+		for (size_t i = 0; i < 3; i++) {
+			_trajectory[i].reset(acceleration(i), velocity(i), position(i));
+		}
+	}
+
+	/**
+	 * @return float Current trajectory acceleration in X
+	 */
+	inline float getCurrentAccelerationX() const
+	{
+		return _trajectory[0].getCurrentAcceleration();
+	}
+
+	/**
+	 * @return float Current trajectory acceleration in Y
+	 */
+	inline float getCurrentAccelerationY() const
+	{
+		return _trajectory[1].getCurrentAcceleration();
+	}
+
+	/**
+	 * @return float Current trajectory acceleration in Z
+	 */
+	inline float getCurrentAccelerationZ() const
+	{
+		return _trajectory[2].getCurrentAcceleration();
+	}
+
+	/**
+	 * @return float Current trajectory acceleration
+	 */
+	inline Vector3f getCurrentAcceleration() const
+	{
+		return {getCurrentAccelerationX(), getCurrentAccelerationY(), getCurrentAccelerationZ()};
+	}
+
+	/**
+	 * @return float Current trajectory velocity in X
+	 */
+	inline float getCurrentVelocityX() const
+	{
+		return _trajectory[0].getCurrentVelocity();
+	}
+
+	/**
+	 * @return float Current trajectory velocity in Y
+	 */
+	inline float getCurrentVelocityY() const
+	{
+		return _trajectory[1].getCurrentVelocity();
+	}
+
+	/**
+	 * @return float Current trajectory velocity in Z
+	 */
+	inline float getCurrentVelocityZ() const
+	{
+		return _trajectory[2].getCurrentVelocity();
+	}
+
+	/**
+	 * @return float Current trajectory velocity
+	 */
+	inline Vector3f getCurrentVelocity() const
+	{
+		return {getCurrentVelocityX(), getCurrentVelocityY(), getCurrentVelocityZ()};
+	}
+
+	/**
+	 * @return float Current trajectory position in X
+	 */
+	inline float getCurrentPositionX() const
+	{
+		return _trajectory[0].getCurrentPosition();
+	}
+
+	/**
+	 * @return float Current trajectory position in Y
+	 */
+	inline float getCurrentPositionY() const
+	{
+		return _trajectory[1].getCurrentPosition();
+	}
+
+	/**
+	 * @return float Current trajectory position in Z
+	 */
+	inline float getCurrentPositionZ() const
+	{
+		return _trajectory[2].getCurrentPosition();
+	}
+
+	/**
+	 * @return float Current trajectory position
+	 */
+	inline Vector3f getCurrentPosition() const
+	{
+		return {getCurrentPositionX(), getCurrentPositionY(), getCurrentPositionZ()};
+	}
+
+	/**
+	 * @param jerk maximum jerk for generated trajectory
+	 */
+	inline void setMaxJerkXY(float jerk)
+	{
+		_trajectory[0].setMaxJerk(jerk);
+		_trajectory[1].setMaxJerk(jerk);
+	}
+
+	/**
+	 * @param jerk maximum jerk for generated trajectory
+	 */
+	inline void setMaxJerkZ(float jerk)
+	{
+		_trajectory[2].setMaxJerk(jerk);
+	}
+
+	/**
+	 * @param jerk maximum jerk for generated trajectory
+	 */
+	inline void setMaxJerk(const Vector3f &jerk)
+	{
+		_trajectory[0].setMaxJerk(jerk(0));
+		_trajectory[1].setMaxJerk(jerk(1));
+		_trajectory[2].setMaxJerk(jerk(2));
+	}
+
+	/**
+	 * @param accel maximum acceleration for generated trajectory
+	 */
+	inline void setMaxAccelerationXY(float accel)
+	{
+		_trajectory[0].setMaxAccel(accel);
+		_trajectory[1].setMaxAccel(accel);
+	}
+
+	/**
+	 * @param accel maximum acceleration for generated trajectory
+	 */
+	inline void setMaxAccelerationZ(float accel)
+	{
+		_trajectory[2].setMaxAccel(accel);
+	}
+
+	/**
+	 * @param accel maximum acceleration for generated trajectory
+	 */
+	inline void setMaxAcceleration(const Vector3f &accel)
+	{
+		_trajectory[0].setMaxAccel(accel(0));
+		_trajectory[1].setMaxAccel(accel(1));
+		_trajectory[2].setMaxAccel(accel(2));
+	}
+
+	/**
+	 * @param vel maximum velocity for generated trajectory
+	 */
+	inline void setMaxVelocityXY(float vel)
+	{
+		_trajectory[0].setMaxVel(vel);
+		_trajectory[1].setMaxVel(vel);
+	}
+
+	/**
+	 * @param vel maximum velocity for generated trajectory
+	 */
+	inline void setMaxVelocityZ(float vel)
+	{
+		_trajectory[2].setMaxVel(vel);
+	}
+
+	/**
+	 * @param vel maximum velocity for generated trajectory
+	 */
+	inline void setMaxVelocity(const Vector3f &vel)
+	{
+		_trajectory[0].setMaxVel(vel(0));
+		_trajectory[1].setMaxVel(vel(1));
+		_trajectory[2].setMaxVel(vel(2));
+	}
+
+	/**
+	 * @param error Maximum horizontal error allowed by the trajectory generator. Often set to param MPC_XY_ERR_MAX
+	 */
+	inline void setMaxAllowedHorizontalError(float error)
+	{
+		_max_allowed_horizontal_error = error;
+	}
+
+	/**
+	 * @param radius  Altitude Acceptance Radius. Often set to NAV_MC_ALT_RAD
+	 */
+	inline void setVerticalAcceptanceRadius(float radius)
+	{
+		_vertical_acceptance_radius = radius;
+	}
+
+	/**
+	 * @param speed vehicle cruise speed
+	 */
+	inline void setCruiseSpeed(float speed)
+	{
+		_cruise_speed = speed;
+	}
+
+	/**
+	 * @param gain Proportional gain for horizontal trajectory position error. Set to MPC_XY_TRAJ_P
+	 */
+	inline void setHorizontalTrajectoryGain(float gain)
+	{
+		_horizontal_trajectory_gain = gain;
+	}
+
+	/**
+	 * @param radius target acceptance radius
+	 */
+	inline void setTargetAcceptanceRadius(float radius)
+	{
+		_target_acceptance_radius = radius;
+	}
+
+	/**
+	 * @brief Set the current position in the trajectory to the given value.
+	 * Any coordinate with NAN will not be set
+	 *
+	 * @param position
+	 */
+	void forceSetPosition(const Vector3f &position)
+	{
+		for (size_t i = 0; i < 3; i++) {
+			if (PX4_ISFINITE(position(i))) {
+				_trajectory[i].setCurrentPosition(position(i));
+			}
+		}
+	}
+
+	/**
+	 * @brief Set the current velocity in the trajectory to the given value.
+	 * Any coordinate with NAN will not be set
+	 *
+	 * @param velocity
+	 */
+	void forceSetVelocity(const Vector3f &velocity)
+	{
+		for (size_t i = 0; i < 3; i++) {
+			if (PX4_ISFINITE(velocity(i))) {
+				_trajectory[i].setCurrentVelocity(velocity(i));
+			}
+		}
+	}
+
+	/**
+	 * @brief Set the current acceleration in the trajectory to the given value.
+	 * Any coordinate with NAN will not be set
+	 *
+	 * @param acceleration
+	 */
+	void forceSetAcceleration(const Vector3f &acceleration)
+	{
+		for (size_t i = 0; i < 3; i++) {
+			if (PX4_ISFINITE(acceleration(i))) {
+				_trajectory[i].setCurrentAcceleration(acceleration(i));
+			}
+		}
+	}
+
+
+private:
+	/* params, only modified from external */
+	float _max_allowed_horizontal_error{0.f};
+	float _vertical_acceptance_radius{0.f};
+	float _cruise_speed{0.f};
+	float _horizontal_trajectory_gain{0.f};
+	float _target_acceptance_radius{0.f};
+
+
+	/* Internal state */
+	VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
+	float _max_speed_previous{0.f};
+
+	/* Internal functions */
+	bool _isTurning(const Vector3f &target) const;
+	const Vector3f _generateVelocitySetpoint(const Vector3f &position, const Vector3f(&waypoints)[3],
+			const Vector3f &feedforward_velocity_setpoint);
+	const Vector2f _getL1Point(const Vector3f &position, const Vector3f(&waypoints)[3]) const;
+	const Vector3f _getCrossingPoint(const Vector3f &position, const Vector3f(&waypoints)[3]) const;
+	float _getMaxXYSpeed(const Vector3f(&waypoints)[3]) const;
+	float _getMaxZSpeed(const Vector3f(&waypoints)[3]) const;
+
+	void _generateTrajectory(
+		const Vector3f &position,
+		const Vector3f &velocity_setpoint,
+		float delta_time,
+		PositionSmoothingSetpoints &out_setpoints);
+};

src/lib/motion_planning/PositionSmoothingTest.cpp

@@ -0,0 +1,191 @@
+#include <gtest/gtest.h>
+
+#include <motion_planning/PositionSmoothing.hpp>
+
+
+static constexpr float MAX_JERK = 4.f;
+static constexpr float MAX_ACCELERATION = 3.f;
+
+static constexpr float MAX_ALLOWED_HOR_ERR = 2.f;
+static constexpr float VERTICAL_ACCEPTANCE_RADIUS = 0.8f;
+static constexpr float CRUISE_SPEED = 5.f;
+static constexpr float MAX_VELOCITY = CRUISE_SPEED;
+
+static constexpr float HORIZONTAL_TRAJECTORY_GAIN = 0.5f;
+static constexpr float TARGET_ACCEPTANCE_RADIUS = 0.5f;
+
+
+class PositionSmoothingTest : public ::testing::Test
+{
+
+public:
+	PositionSmoothing _position_smoothing;
+
+	PositionSmoothingTest()
+	{
+		_position_smoothing.setMaxJerk({MAX_JERK, MAX_JERK, MAX_JERK});
+		_position_smoothing.setMaxAcceleration({MAX_ACCELERATION, MAX_ACCELERATION, MAX_ACCELERATION});
+		_position_smoothing.setMaxVelocity({MAX_VELOCITY, MAX_VELOCITY, MAX_VELOCITY});
+		_position_smoothing.setMaxAllowedHorizontalError(MAX_ALLOWED_HOR_ERR);
+		_position_smoothing.setVerticalAcceptanceRadius(VERTICAL_ACCEPTANCE_RADIUS);
+		_position_smoothing.setCruiseSpeed(CRUISE_SPEED);
+		_position_smoothing.setHorizontalTrajectoryGain(HORIZONTAL_TRAJECTORY_GAIN);
+		_position_smoothing.setTargetAcceptanceRadius(TARGET_ACCEPTANCE_RADIUS);
+
+		_position_smoothing.reset({0.f, 0.f, 0.f}, {0.f, 0.f, 0.f}, {0.f, 0.f, 0.f});
+	}
+
+	static bool _vectorNear(const Vector3f &a, const Vector3f &b, float EPS = 1e-4f)
+	{
+		return (fabsf(a(0) - b(0)) < EPS) && (fabsf(a(1) - b(1)) < EPS) && (fabsf(a(2) - b(2)) < EPS);
+	}
+
+	static void expectVectorEqual(const Vector3f &expected, const Vector3f &value, const char *name, float EPS)
+	{
+		EXPECT_TRUE(_vectorNear(expected, value, EPS)) <<
+				"Vector \"" << name << "\" expected [" <<
+				expected(0) << ", " <<
+				expected(1) << ", " <<
+				expected(2) << "] has value [" <<
+				value(0) << ", " <<
+				value(1) << ", " <<
+				value(2) << "]\n";
+	}
+
+	static void expectDynamicsLimitsRespected(const PositionSmoothing::PositionSmoothingSetpoints &setpoints)
+	{
+		EXPECT_LE(fabsf(setpoints.velocity(0)), MAX_VELOCITY) << "Velocity in x too high\n";
+		EXPECT_LE(fabsf(setpoints.velocity(1)), MAX_VELOCITY) << "Velocity in y too high\n";
+		EXPECT_LE(fabsf(setpoints.velocity(2)), MAX_VELOCITY) << "Velocity in z too high\n";
+		EXPECT_LE(fabsf(setpoints.acceleration(0)), MAX_ACCELERATION) << "Acceleration in x too high\n";
+		EXPECT_LE(fabsf(setpoints.acceleration(1)), MAX_ACCELERATION) << "Acceleration in y too high\n";
+		EXPECT_LE(fabsf(setpoints.acceleration(2)), MAX_ACCELERATION) << "Acceleration in z too high\n";
+		EXPECT_LE(fabsf(setpoints.jerk(0)), MAX_JERK) << "Jerk in x too high\n";
+		EXPECT_LE(fabsf(setpoints.jerk(1)), MAX_JERK) << "Jerk in y too high\n";
+		EXPECT_LE(fabsf(setpoints.jerk(2)), MAX_JERK) << "Jerk in z too high\n";
+	}
+};
+
+
+TEST_F(PositionSmoothingTest, reachesTargetPositionSetpoint)
+{
+	const float EPS = 1e-4;
+	const int N_ITER = 2000;
+	const float DELTA_T = 0.02f;
+	const Vector3f INITIAL_POSITION{0.f, 0.f, 0.f};
+	const Vector3f FF_VELOCITY{0.f, 0.f, 0.f};
+	const Vector3f TARGET{12.f, 17.f, 8.f};
+
+	Vector3f waypoints[3] = {INITIAL_POSITION, TARGET, TARGET};
+
+	Vector3f position{0.f, 0.f, 0.f};
+
+	PositionSmoothing::PositionSmoothingSetpoints out;
+
+	int iteration = 0;
+
+	for (; iteration < N_ITER; iteration++) {
+		_position_smoothing.generateSetpoints(
+			position,
+			waypoints,
+			FF_VELOCITY,
+			DELTA_T,
+			false,
+			out
+		);
+		position = out.position;
+		expectDynamicsLimitsRespected(out);
+
+		if ((position - TARGET).length() < EPS) {
+			printf("Converged in %d iterations\n", iteration);
+			break;
+		}
+	}
+
+	expectVectorEqual(TARGET, position, "position", EPS);
+	EXPECT_LT(iteration, N_ITER) << "Took too long to converge\n";
+}
+
+
+TEST_F(PositionSmoothingTest, reachesTargetVelocityIntegration)
+{
+	const float EPS = 1e-4;
+	const int N_ITER = 2000;
+	const float DELTA_T = 0.02f;
+	const Vector3f INITIAL_POSITION{0.f, 0.f, 0.f};
+	const Vector3f FF_VELOCITY{0.f, 0.f, 0.f};
+	const Vector3f TARGET{12.f, 17.f, 8.f};
+
+	Vector3f waypoints[3] = {INITIAL_POSITION, TARGET, TARGET};
+
+	Vector3f position{0.f, 0.f, 0.f};
+
+	PositionSmoothing::PositionSmoothingSetpoints out;
+
+	int iteration = 0;
+
+	for (; iteration < N_ITER; iteration++) {
+		_position_smoothing.generateSetpoints(
+			position,
+			waypoints,
+			FF_VELOCITY,
+			DELTA_T,
+			false,
+			out
+		);
+		position += out.velocity * DELTA_T;
+		expectDynamicsLimitsRespected(out);
+
+
+		if ((position - TARGET).length() < EPS) {
+			printf("Converged in %d iterations\n", iteration);
+			break;
+		}
+	}
+
+	expectVectorEqual(TARGET, position, "position", EPS);
+	EXPECT_LT(iteration, N_ITER) << "Took too long to converge\n";
+}
+
+
+TEST_F(PositionSmoothingTest, reachesTargetInitialVelocity)
+{
+	const float EPS = 1e-4;
+	const int N_ITER = 2000;
+	const float DELTA_T = 0.02f;
+	const Vector3f INITIAL_POSITION{0.f, 0.f, 0.f};
+	const Vector3f TARGET{12.f, 17.f, 8.f};
+	const Vector3f NEXT_TARGET{8.f, 12.f, 80.f};
+
+
+	Vector3f waypoints[3] = {INITIAL_POSITION, TARGET, NEXT_TARGET};
+	Vector3f ff_velocity{1.f, 0.1f, 0.3f};
+
+	Vector3f position{0.f, 0.f, 0.f};
+
+	PositionSmoothing::PositionSmoothingSetpoints out;
+
+	int iteration = 0;
+
+	for (; iteration < N_ITER; iteration++) {
+		_position_smoothing.generateSetpoints(
+			position,
+			waypoints,
+			ff_velocity,
+			DELTA_T,
+			false,
+			out
+		);
+		position = out.position;
+		ff_velocity = {0.f, 0.f, 0.f};
+		expectDynamicsLimitsRespected(out);
+
+		if ((position - TARGET).length() < EPS) {
+			printf("Converged in %d iterations\n", iteration);
+			break;
+		}
+	}
+
+	expectVectorEqual(TARGET, position, "position", EPS);
+	EXPECT_LT(iteration, N_ITER) << "Took too long to converge\n";
+}

src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/CMakeLists.txt

@@ -37,6 +37,3 @@ px4_add_library(FlightTaskAutoLineSmoothVel
 
 target_link_libraries(FlightTaskAutoLineSmoothVel PUBLIC FlightTaskAutoMapper FlightTaskUtility)
 target_include_directories(FlightTaskAutoLineSmoothVel PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-
-
-px4_add_unit_gtest(SRC TrajectoryConstraintsTest.cpp)

src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp

@@ -37,10 +37,9 @@
 
 #include "FlightTaskAutoLineSmoothVel.hpp"
 
-#include "TrajectoryConstraints.hpp"
-
 using namespace matrix;
 
+
 bool FlightTaskAutoLineSmoothVel::activate(const vehicle_local_position_setpoint_s &last_setpoint)
 {
 	bool ret = FlightTaskAutoMapper::activate(last_setpoint);
@@ -60,9 +59,7 @@ bool FlightTaskAutoLineSmoothVel::activate(const vehicle_local_position_setpoint
 		if (!PX4_ISFINITE(accel_prev(i))) { accel_prev(i) = 0.f; }
 	}
 
-	for (int i = 0; i < 3; ++i) {
+	_position_smoothing.reset(accel_prev, vel_prev, pos_prev);
-		_trajectory[i].reset(accel_prev(i), vel_prev(i), pos_prev(i));
-	}
 
 	_yaw_sp_prev = PX4_ISFINITE(last_setpoint.yaw) ? last_setpoint.yaw : _yaw;
 	_updateTrajConstraints();
@@ -76,11 +73,7 @@ void FlightTaskAutoLineSmoothVel::reActivate()
 	FlightTaskAutoMapper::reActivate();
 
 	// On ground, reset acceleration and velocity to zero
-	for (int i = 0; i < 2; ++i) {
+	_position_smoothing.reset({0.f, 0.f, 0.f}, {0.f, 0.f, 0.7f}, _position);
-		_trajectory[i].reset(0.f, 0.f, _position(i));
-	}
-
-	_trajectory[2].reset(0.f, 0.7f, _position(2));
 }
 
 /**
@@ -90,24 +83,22 @@ void FlightTaskAutoLineSmoothVel::reActivate()
  */
 void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy)
 {
-	_trajectory[0].setCurrentPosition(_position(0));
+	_position_smoothing.forceSetPosition({_position(0), _position(1), NAN});
-	_trajectory[1].setCurrentPosition(_position(1));
 }
 
 void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy)
 {
-	_trajectory[0].setCurrentVelocity(_velocity(0));
+	_position_smoothing.forceSetVelocity({_velocity(0), _velocity(1), NAN});
-	_trajectory[1].setCurrentVelocity(_velocity(1));
 }
 
 void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionZ(float delta_z)
 {
-	_trajectory[2].setCurrentPosition(_position(2));
+	_position_smoothing.forceSetPosition({NAN, NAN, _position(2)});
 }
 
 void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityZ(float delta_vz)
 {
-	_trajectory[2].setCurrentVelocity(_velocity(2));
+	_position_smoothing.forceSetVelocity({NAN, NAN, _velocity(2)});
 }
 
 void FlightTaskAutoLineSmoothVel::_ekfResetHandlerHeading(float delta_psi)
@@ -118,9 +109,32 @@ void FlightTaskAutoLineSmoothVel::_ekfResetHandlerHeading(float delta_psi)
 void FlightTaskAutoLineSmoothVel::_generateSetpoints()
 {
 	_checkEmergencyBraking();
-	_updateTurningCheck();
+	Vector3f waypoints[] = {_prev_wp, _position_setpoint, _next_wp};
-	_prepareSetpoints();
+
-	_generateTrajectory();
+	if (isTargetModified()) {
+		// In case object avoidance has injected a new setpoint, we take this as the next waypoints
+		waypoints[2] = _position_setpoint;
+	}
+
+	const bool should_wait_for_yaw_align = _param_mpc_yaw_mode.get() == 4 && !_yaw_sp_aligned;
+	_updateTrajConstraints();
+	PositionSmoothing::PositionSmoothingSetpoints smoothed_setpoints;
+	_position_smoothing.generateSetpoints(
+		_position,
+		waypoints,
+		_velocity_setpoint,
+		_deltatime,
+		should_wait_for_yaw_align,
+		smoothed_setpoints
+	);
+
+	_jerk_setpoint = smoothed_setpoints.jerk;
+	_acceleration_setpoint = smoothed_setpoints.acceleration;
+	_velocity_setpoint = smoothed_setpoints.velocity;
+	_position_setpoint = smoothed_setpoints.position;
+
+	_unsmoothed_velocity_setpoint = smoothed_setpoints.unsmoothed_velocity;
+	_want_takeoff = smoothed_setpoints.unsmoothed_velocity(2) < -0.3f;
 
 	if (!PX4_ISFINITE(_yaw_setpoint) && !PX4_ISFINITE(_yawspeed_setpoint)) {
 		// no valid heading -> generate heading in this flight task
@@ -131,36 +145,17 @@ void FlightTaskAutoLineSmoothVel::_generateSetpoints()
 void FlightTaskAutoLineSmoothVel::_checkEmergencyBraking()
 {
 	if (!_is_emergency_braking_active) {
-		if (_trajectory[2].getCurrentVelocity() > (2.f * _param_mpc_z_vel_max_dn.get())) {
+		if (_position_smoothing.getCurrentVelocityZ() > (2.f * _param_mpc_z_vel_max_dn.get())) {
 			_is_emergency_braking_active = true;
 		}
 
 	} else {
-		if (fabsf(_trajectory[2].getCurrentVelocity()) < 0.01f) {
+		if (fabsf(_position_smoothing.getCurrentVelocityZ()) < 0.01f) {
 			_is_emergency_braking_active = false;
 		}
 	}
 }
 
-void FlightTaskAutoLineSmoothVel::_updateTurningCheck()
-{
-	const Vector2f vel_traj(_trajectory[0].getCurrentVelocity(),
-				_trajectory[1].getCurrentVelocity());
-	const Vector2f pos_traj(_trajectory[0].getCurrentPosition(),
-				_trajectory[1].getCurrentPosition());
-	const Vector2f target_xy(_target);
-	const Vector2f u_vel_traj = vel_traj.unit_or_zero();
-	const Vector2f pos_to_target = Vector2f(target_xy - pos_traj);
-	const float cos_align = u_vel_traj * pos_to_target.unit_or_zero();
-
-	// The vehicle is turning if the angle between the velocity vector
-	// and the direction to the target is greater than 10 degrees, the
-	// velocity is large enough and the drone isn't in the acceptance
-	// radius of the last WP.
-	_is_turning = vel_traj.longerThan(0.2f)
-		      && cos_align < 0.98f
-		      && pos_to_target.longerThan(_target_acceptance_radius);
-}
 
 void FlightTaskAutoLineSmoothVel::_generateHeading()
 {
@@ -187,98 +182,6 @@ bool FlightTaskAutoLineSmoothVel::_generateHeadingAlongTraj()
 	return res;
 }
 
-/* Constrain some value vith a constrain depending on the sign of the constraint
- * Example: 	- if the constrain is -5, the value will be constrained between -5 and 0
- * 		- if the constrain is 5, the value will be constrained between 0 and 5
- */
-float FlightTaskAutoLineSmoothVel::_constrainOneSide(float val, float constraint)
-{
-	const float min = (constraint < FLT_EPSILON) ? constraint : 0.f;
-	const float max = (constraint > FLT_EPSILON) ? constraint : 0.f;
-
-	return math::constrain(val, min, max);
-}
-
-float FlightTaskAutoLineSmoothVel::_constrainAbs(float val, float max)
-{
-	return sign(val) * math::min(fabsf(val), fabsf(max));
-}
-
-float FlightTaskAutoLineSmoothVel::_getMaxXYSpeed() const
-{
-	Vector3f pos_traj(_trajectory[0].getCurrentPosition(),
-			  _trajectory[1].getCurrentPosition(),
-			  _trajectory[2].getCurrentPosition());
-
-	math::trajectory::VehicleDynamicLimits config;
-	config.z_accept_rad = _param_nav_mc_alt_rad.get();
-	config.xy_accept_rad = _target_acceptance_radius;
-	config.max_acc_xy = _trajectory[0].getMaxAccel();
-	config.max_jerk = _trajectory[0].getMaxJerk();
-	config.max_speed_xy = _mc_cruise_speed;
-	config.max_acc_xy_radius_scale = _param_mpc_xy_traj_p.get();
-
-	// constrain velocity to go to the position setpoint first if the position setpoint has been modified by an external source
-	// (eg. Obstacle Avoidance)
-
-	Vector3f waypoints[3] = {pos_traj, _target, _next_wp};
-
-	if (isTargetModified()) {
-		waypoints[2] = waypoints[1] = _position_setpoint;
-	}
-
-	float max_xy_speed = math::trajectory::computeXYSpeedFromWaypoints<3>(waypoints, config);
-
-	return max_xy_speed;
-}
-
-float FlightTaskAutoLineSmoothVel::_getMaxZSpeed() const
-{
-	Vector3f pos_traj(_trajectory[0].getCurrentPosition(),
-			  _trajectory[1].getCurrentPosition(),
-			  _trajectory[2].getCurrentPosition());
-	float z_setpoint = _target(2);
-
-	// constrain velocity to go to the position setpoint first if the position setpoint has been modified by an external source
-	// (eg. Obstacle Avoidance)
-	bool z_valid = PX4_ISFINITE(_position_setpoint(2));
-	bool z_modified =  z_valid && fabsf((_target - _position_setpoint)(2)) > FLT_EPSILON;
-
-	if (z_modified) {
-		z_setpoint = _position_setpoint(2);
-	}
-
-	const float distance_start_target = fabs(z_setpoint - pos_traj(2));
-	const float arrival_z_speed = 0.f;
-
-	float max_speed = math::min(_trajectory[2].getMaxVel(), math::trajectory::computeMaxSpeedFromDistance(
-					    _trajectory[2].getMaxJerk(), _trajectory[2].getMaxAccel(),
-					    distance_start_target, arrival_z_speed));
-
-	return max_speed;
-}
-
-Vector3f FlightTaskAutoLineSmoothVel::getCrossingPoint() const
-{
-	Vector3f pos_crossing_point{};
-
-	if (isTargetModified()) {
-		// Strictly follow the modified setpoint
-		pos_crossing_point = _position_setpoint;
-
-	} else {
-		if (_is_turning) {
-			// Get the crossing point using L1-style guidance
-			pos_crossing_point.xy() = getL1Point();
-			pos_crossing_point(2) = _target(2);
-
-		} else {
-			pos_crossing_point = _target;
-		}
-	}
-
-	return pos_crossing_point;
-}
 
 bool FlightTaskAutoLineSmoothVel::isTargetModified() const
 {
@@ -289,158 +192,34 @@ bool FlightTaskAutoLineSmoothVel::isTargetModified() const
 	return xy_modified || z_modified;
 }
 
-Vector2f FlightTaskAutoLineSmoothVel::getL1Point() const
-{
-	const Vector2f pos_traj(_trajectory[0].getCurrentPosition(),
-				_trajectory[1].getCurrentPosition());
-	const Vector2f target_xy(_target);
-	const Vector2f u_prev_to_target = Vector2f(target_xy - Vector2f(_prev_wp)).unit_or_zero();
-	const Vector2f prev_to_pos(pos_traj - Vector2f(_prev_wp));
-	const Vector2f prev_to_closest(u_prev_to_target * (prev_to_pos * u_prev_to_target));
-	const Vector2f closest_pt = Vector2f(_prev_wp) + prev_to_closest;
-
-	// Compute along-track error using L1 distance and cross-track error
-	const float crosstrack_error = Vector2f(closest_pt - pos_traj).length();
-
-	const float l1 = math::max(_target_acceptance_radius, 5.f);
-	float alongtrack_error = 0.f;
-
-	// Protect against sqrt of a negative number
-	if (l1 > crosstrack_error) {
-		alongtrack_error = sqrtf(l1 * l1 - crosstrack_error * crosstrack_error);
-	}
-
-	// Position of the point on the line where L1 intersect the line between the two waypoints
-	const Vector2f l1_point = closest_pt + alongtrack_error * u_prev_to_target;
-
-	return l1_point;
-}
-
-void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
-{
-	// Interface: A valid position setpoint generates a velocity target using conservative motion constraints.
-	// If a velocity is specified, that is used as a feedforward to track the position setpoint
-	// (ie. it assumes the position setpoint is moving at the specified velocity)
-	// If the position setpoints are set to NAN, the values in the velocity setpoints are used as velocity targets: nothing to do here.
-
-	_want_takeoff = false;
-
-	const bool should_wait_for_yaw_align = _param_mpc_yaw_mode.get() == 4 && !_yaw_sp_aligned;
-
-	if (should_wait_for_yaw_align || _is_emergency_braking_active) {
-		_velocity_setpoint.setAll(0.f);
-		return;
-	}
-
-	const bool xy_pos_setpoint_valid = PX4_ISFINITE(_position_setpoint(0)) && PX4_ISFINITE(_position_setpoint(1));
-	const bool z_pos_setpoint_valid = PX4_ISFINITE(_position_setpoint(2));
-
-	if (xy_pos_setpoint_valid && z_pos_setpoint_valid) {
-		// Use 3D position setpoint to generate a 3D velocity setpoint
-		Vector3f pos_traj(_trajectory[0].getCurrentPosition(),
-				  _trajectory[1].getCurrentPosition(),
-				  _trajectory[2].getCurrentPosition());
-
-		const Vector3f u_pos_traj_to_dest((getCrossingPoint() - pos_traj).unit_or_zero());
-
-		float xy_speed = _getMaxXYSpeed();
-		const float z_speed = _getMaxZSpeed();
-
-		if (_is_turning) {
-			// Lock speed during turn
-			xy_speed = math::min(_max_speed_prev, xy_speed);
-
-		} else {
-			_max_speed_prev = xy_speed;
-		}
-
-		Vector3f vel_sp_constrained = u_pos_traj_to_dest * sqrtf(xy_speed * xy_speed + z_speed * z_speed);
-		math::trajectory::clampToXYNorm(vel_sp_constrained, xy_speed, 0.5f);
-		math::trajectory::clampToZNorm(vel_sp_constrained, z_speed, 0.5f);
-
-		for (int i = 0; i < 3; i++) {
-			// If available, use the existing velocity as a feedforward, otherwise replace it
-			if (PX4_ISFINITE(_velocity_setpoint(i))) {
-				_velocity_setpoint(i) += vel_sp_constrained(i);
-
-			} else {
-				_velocity_setpoint(i) = vel_sp_constrained(i);
-			}
-		}
-	}
-
-	else if (xy_pos_setpoint_valid) {
-		// Use 2D position setpoint to generate a 2D velocity setpoint
-
-		// Get various path specific vectors
-		Vector2f pos_traj(_trajectory[0].getCurrentPosition(), _trajectory[1].getCurrentPosition());
-		Vector2f pos_traj_to_dest_xy = Vector2f(getCrossingPoint()) - pos_traj;
-		Vector2f u_pos_traj_to_dest_xy(pos_traj_to_dest_xy.unit_or_zero());
-
-		float xy_speed = _getMaxXYSpeed();
-
-		if (_is_turning) {
-			// Lock speed during turn
-			xy_speed = math::min(_max_speed_prev, xy_speed);
-
-		} else {
-			_max_speed_prev = xy_speed;
-		}
-
-		Vector2f vel_sp_constrained_xy = u_pos_traj_to_dest_xy * xy_speed;
-
-		for (int i = 0; i < 2; i++) {
-			// If available, use the existing velocity as a feedforward, otherwise replace it
-			if (PX4_ISFINITE(_velocity_setpoint(i))) {
-				_velocity_setpoint(i) += vel_sp_constrained_xy(i);
-
-			} else {
-				_velocity_setpoint(i) = vel_sp_constrained_xy(i);
-			}
-		}
-	}
-
-	else if (z_pos_setpoint_valid) {
-		// Use Z position setpoint to generate a Z velocity setpoint
-
-		const float z_dir = sign(_position_setpoint(2) - _trajectory[2].getCurrentPosition());
-		const float vel_sp_z = z_dir * _getMaxZSpeed();
-
-		// If available, use the existing velocity as a feedforward, otherwise replace it
-		if (PX4_ISFINITE(_velocity_setpoint(2))) {
-			_velocity_setpoint(2) += vel_sp_z;
-
-		} else {
-			_velocity_setpoint(2) = vel_sp_z;
-		}
-	}
-
-	_want_takeoff = _velocity_setpoint(2) < -0.3f;
-}
 
 void FlightTaskAutoLineSmoothVel::_updateTrajConstraints()
 {
+	// update params of the position smoothing
+	_position_smoothing.setMaxAllowedHorizontalError(_param_mpc_xy_err_max.get());
+	_position_smoothing.setVerticalAcceptanceRadius(_param_nav_mc_alt_rad.get());
+	_position_smoothing.setCruiseSpeed(_mc_cruise_speed);
+	_position_smoothing.setHorizontalTrajectoryGain(_param_mpc_xy_traj_p.get());
+	_position_smoothing.setTargetAcceptanceRadius(_target_acceptance_radius);
+
 	// Update the constraints of the trajectories
-	_trajectory[0].setMaxAccel(_param_mpc_acc_hor.get()); // TODO : Should be computed using heading
+	_position_smoothing.setMaxAccelerationXY(_param_mpc_acc_hor.get()); // TODO : Should be computed using heading
-	_trajectory[1].setMaxAccel(_param_mpc_acc_hor.get());
+	_position_smoothing.setMaxVelocityXY(_param_mpc_xy_vel_max.get());
-	_trajectory[0].setMaxVel(_param_mpc_xy_vel_max.get());
+	float max_jerk = _param_mpc_jerk_auto.get();
-	_trajectory[1].setMaxVel(_param_mpc_xy_vel_max.get());
+	_position_smoothing.setMaxJerk({max_jerk, max_jerk, max_jerk}); // TODO : Should be computed using heading
-	_trajectory[0].setMaxJerk(_param_mpc_jerk_auto.get()); // TODO : Should be computed using heading
-	_trajectory[1].setMaxJerk(_param_mpc_jerk_auto.get());
-	_trajectory[2].setMaxJerk(_param_mpc_jerk_auto.get());
 
 	if (_is_emergency_braking_active) {
 		// When initializing with large downward velocity, allow 1g of vertical
 		// acceleration for fast braking
-		_trajectory[2].setMaxAccel(9.81f);
+		_position_smoothing.setMaxAccelerationZ(9.81f);
-		_trajectory[2].setMaxJerk(9.81f);
+		_position_smoothing.setMaxJerkZ(9.81f);
 
 		// If the current velocity is beyond the usual constraints, tell
 		// the controller to exceptionally increase its saturations to avoid
 		// cutting out the feedforward
-		_constraints.speed_down = math::max(fabsf(_trajectory[2].getCurrentVelocity()), _param_mpc_z_vel_max_dn.get());
+		_constraints.speed_down = math::max(fabsf(_position_smoothing.getCurrentVelocityZ()), _param_mpc_z_vel_max_dn.get());
 
-	} else if (_velocity_setpoint(2) < 0.f) { // up
+	} else if (_unsmoothed_velocity_setpoint(2) < 0.f) { // up
 		float z_accel_constraint = _param_mpc_acc_up_max.get();
 		float z_vel_constraint = _param_mpc_z_vel_max_up.get();
 
@@ -455,64 +234,14 @@ void FlightTaskAutoLineSmoothVel::_updateTrajConstraints()
 			// Keep the altitude setpoint at the current altitude
 			// to avoid having it going down into the ground during
 			// the initial ramp as the velocity does not start at 0
-			_trajectory[2].setCurrentPosition(_position(2));
+			_position_smoothing.forceSetPosition({NAN, NAN, _position(2)});
 		}
 
-		_trajectory[2].setMaxVel(z_vel_constraint);
+		_position_smoothing.setMaxVelocityZ(z_vel_constraint);
-		_trajectory[2].setMaxAccel(z_accel_constraint);
+		_position_smoothing.setMaxAccelerationZ(z_accel_constraint);
 
 	} else { // down
-		_trajectory[2].setMaxAccel(_param_mpc_acc_down_max.get());
+		_position_smoothing.setMaxAccelerationZ(_param_mpc_acc_down_max.get());
-		_trajectory[2].setMaxVel(_param_mpc_z_vel_max_dn.get());
+		_position_smoothing.setMaxVelocityZ(_param_mpc_z_vel_max_dn.get());
 	}
 }
-
-void FlightTaskAutoLineSmoothVel::_generateTrajectory()
-{
-	if (!PX4_ISFINITE(_velocity_setpoint(0)) || !PX4_ISFINITE(_velocity_setpoint(1))
-	    || !PX4_ISFINITE(_velocity_setpoint(2))) {
-		return;
-	}
-
-	/* Slow down the trajectory by decreasing the integration time based on the position error.
-	 * This is only performed when the drone is behind the trajectory
-	 */
-	Vector2f position_trajectory_xy(_trajectory[0].getCurrentPosition(), _trajectory[1].getCurrentPosition());
-	Vector2f position_xy(_position);
-	Vector2f vel_traj_xy(_trajectory[0].getCurrentVelocity(), _trajectory[1].getCurrentVelocity());
-	Vector2f drone_to_trajectory_xy(position_trajectory_xy - position_xy);
-	float position_error = drone_to_trajectory_xy.length();
-
-	float time_stretch = 1.f - math::constrain(position_error / _param_mpc_xy_err_max.get(), 0.f, 1.f);
-
-	// Don't stretch time if the drone is ahead of the position setpoint
-	if (drone_to_trajectory_xy.dot(vel_traj_xy) < 0.f) {
-		time_stretch = 1.f;
-	}
-
-	Vector3f jerk_sp_smooth;
-	Vector3f accel_sp_smooth;
-	Vector3f vel_sp_smooth;
-	Vector3f pos_sp_smooth;
-
-	for (int i = 0; i < 3; ++i) {
-		_trajectory[i].updateTraj(_deltatime, time_stretch);
-		jerk_sp_smooth(i) = _trajectory[i].getCurrentJerk();
-		accel_sp_smooth(i) = _trajectory[i].getCurrentAcceleration();
-		vel_sp_smooth(i) = _trajectory[i].getCurrentVelocity();
-		pos_sp_smooth(i) = _trajectory[i].getCurrentPosition();
-	}
-
-	_updateTrajConstraints();
-
-	for (int i = 0; i < 3; ++i) {
-		_trajectory[i].updateDurations(_velocity_setpoint(i));
-	}
-
-	VelocitySmoothing::timeSynchronization(_trajectory, 3);
-
-	_jerk_setpoint = jerk_sp_smooth;
-	_acceleration_setpoint = accel_sp_smooth;
-	_velocity_setpoint = vel_sp_smooth;
-	_position_setpoint = pos_sp_smooth;
-}

src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp

@@ -41,7 +41,7 @@
 #pragma once
 
 #include "FlightTaskAutoMapper.hpp"
-#include <motion_planning/VelocitySmoothing.hpp>
+#include <motion_planning/PositionSmoothing.hpp>
 
 class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper
 {
@@ -52,6 +52,10 @@ public:
 	bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
 	void reActivate() override;
 
+private:
+	PositionSmoothing _position_smoothing;
+	Vector3f _unsmoothed_velocity_setpoint;
+
 protected:
 
 	/** Reset position or velocity setpoints in case of EKF reset event */
@@ -64,35 +68,20 @@ protected:
 	void _generateSetpoints() override; /**< Generate setpoints along line. */
 	void _generateHeading();
 	void _checkEmergencyBraking();
-	void _updateTurningCheck();
 	bool _generateHeadingAlongTraj(); /**< Generates heading along trajectory. */
 
-	static float _constrainOneSide(float val, float constraint); /**< Constrain val between INF and constraint */
 
-	static float _constrainAbs(float val, float max); /** Constrain the value -max <= val <= max */
-
-	float _getMaxXYSpeed() const;
-	float _getMaxZSpeed() const;
-
-	matrix::Vector3f getCrossingPoint() const;
 	bool isTargetModified() const;
-	matrix::Vector2f getL1Point() const;
-
-	float _max_speed_prev{};
-	bool _is_turning{false};
 
 	bool _is_emergency_braking_active{false};
 
 	void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
 	void _updateTrajConstraints();
-	void _generateTrajectory();
 
 	/** determines when to trigger a takeoff (ignored in flight) */
 	bool _checkTakeoff() override { return _want_takeoff; };
 	bool _want_takeoff{false};
 
-	VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
-
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
 					(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
 					(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight