lib: name folders consistently

src/lib/flight_tasks/tasks/Manual/FlightTaskManual.cpp

@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 FlightTaskManual.cpp
+ */
+
+#include "FlightTaskManual.hpp"
+#include <mathlib/mathlib.h>
+#include <float.h>
+#include <drivers/drv_hrt.h>
+
+using namespace matrix;
+using namespace time_literals;
+
+bool FlightTaskManual::updateInitialize()
+{
+	bool ret = FlightTask::updateInitialize();
+
+	_sub_manual_control_setpoint.update();
+
+	const bool sticks_available = _evaluateSticks();
+
+	if (_sticks_data_required) {
+		ret = ret && sticks_available;
+	}
+
+	return ret;
+}
+
+bool FlightTaskManual::_evaluateSticks()
+{
+	hrt_abstime rc_timeout = (_param_com_rc_loss_t.get() * 1.5f) * 1_s;
+
+	/* Sticks are rescaled linearly and exponentially to [-1,1] */
+	if ((_time_stamp_current - _sub_manual_control_setpoint.get().timestamp) < rc_timeout) {
+
+		/* Linear scale  */
+		_sticks(0) = _sub_manual_control_setpoint.get().x; /* NED x, "pitch" [-1,1] */
+		_sticks(1) = _sub_manual_control_setpoint.get().y; /* NED y, "roll" [-1,1] */
+		_sticks(2) = -(_sub_manual_control_setpoint.get().z - 0.5f) * 2.f; /* NED z, "thrust" resacaled from [0,1] to [-1,1] */
+		_sticks(3) = _sub_manual_control_setpoint.get().r; /* "yaw" [-1,1] */
+
+		/* Exponential scale */
+		_sticks_expo(0) = math::expo_deadzone(_sticks(0), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
+		_sticks_expo(1) = math::expo_deadzone(_sticks(1), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
+		_sticks_expo(2) = math::expo_deadzone(_sticks(2), _param_mpc_z_man_expo.get(), _param_mpc_hold_dz.get());
+		_sticks_expo(3) = math::expo_deadzone(_sticks(3), _param_mpc_yaw_expo.get(), _param_mpc_hold_dz.get());
+
+		// Only switch the landing gear up if the user switched from gear down to gear up.
+		// If the user had the switch in the gear up position and took off ignore it
+		// until he toggles the switch to avoid retracting the gear immediately on takeoff.
+		int8_t gear_switch = _sub_manual_control_setpoint.get().gear_switch;
+
+		if (_gear_switch_old != gear_switch) {
+			_applyGearSwitch(gear_switch);
+		}
+
+		_gear_switch_old = gear_switch;
+
+		// valid stick inputs are required
+		const bool valid_sticks =  PX4_ISFINITE(_sticks(0))
+					   && PX4_ISFINITE(_sticks(1))
+					   && PX4_ISFINITE(_sticks(2))
+					   && PX4_ISFINITE(_sticks(3));
+
+		return valid_sticks;
+
+	} else {
+		/* Timeout: set all sticks to zero */
+		_sticks.zero();
+		_sticks_expo.zero();
+		_gear.landing_gear = landing_gear_s::GEAR_KEEP;
+		return false;
+	}
+}
+
+void FlightTaskManual::_applyGearSwitch(uint8_t gswitch)
+{
+	if (gswitch == manual_control_setpoint_s::SWITCH_POS_OFF) {
+		_gear.landing_gear = landing_gear_s::GEAR_DOWN;
+	}
+
+	if (gswitch == manual_control_setpoint_s::SWITCH_POS_ON) {
+		_gear.landing_gear = landing_gear_s::GEAR_UP;
+	}
+}