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7ed3c5bad4
* feat(FlightTaskAuto): add RC yaw override during Auto modes * feat(FlightTaskAuto): disengage RC yaw nudge on flight-mode switch * docs: document MPC_AUTO_RC_YAW in MC Auto mode pages Describe the RC yaw nudge (MPC_AUTO_RC_YAW) on the Mission page. Add parameter rows to the Hold and Land pages where MPC_LAND_RC_HELP takes precedence over it for yaw, and document MPC_LAND_RC_HELP there too. * feat(FlightTaskAuto): updated param description to warn against COM_RC_OVERRIDE disabled The long description recommends to have a switch on the RC to change to Position mode * fix(FlightTaskAuto): unified yaw nudging with new MPC_AUTO_NUDGING parameter * docs(FlightTaskAuto): MPC_AUTO_RC_YAW and MPC_LAND_RC_HELP parameters were replaced by the unified MPC_AUTO_NUDGING bitmask * fix(parameters): migrate MPC_LAND_RC_HELP to MPC_AUTO_NUDGING bit 1 * docs(1.18): move stick override and add nudging changes --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>
83 lines
3.1 KiB
C++
83 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019-2023 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 FlightTaskDescend.cpp
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*/
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#include "FlightTaskDescend.hpp"
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bool FlightTaskDescend::activate(const trajectory_setpoint_s &last_setpoint)
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{
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bool ret = FlightTask::activate(last_setpoint);
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_gear.landing_gear = landing_gear_s::GEAR_DOWN;
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return ret;
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}
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bool FlightTaskDescend::update()
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{
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bool ret = FlightTask::update();
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if (PX4_ISFINITE(_velocity(2))) {
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// land with landspeed
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_velocity_setpoint(2) = _param_mpc_land_speed.get();
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_acceleration_setpoint(2) = NAN;
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} else {
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// descend with constant acceleration (crash landing)
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_velocity_setpoint(2) = NAN;
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_acceleration_setpoint(2) = .3f;
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}
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// Nudging
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if ((_param_mpc_auto_nudging.get() & 2) && _sticks.checkAndUpdateStickInputs()) {
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_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint, _sticks.getYawExpo(), _yaw, _deltatime);
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_acceleration_setpoint.xy() = _stick_tilt_xy.generateAccelerationSetpoints(_sticks.getPitchRoll(), _deltatime, _yaw,
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_yaw_setpoint);
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// Stick full up -1 -> stop, stick full down 1 -> double the value
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_velocity_setpoint(2) *= (1 - _sticks.getThrottleZeroCenteredExpo());
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_acceleration_setpoint(2) -= _sticks.getThrottleZeroCentered() * 10.f;
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} else {
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_acceleration_setpoint.xy() = matrix::Vector2f(0.f, 0.f); // stay level to minimize horizontal drift
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_yawspeed_setpoint = NAN;
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// keep heading
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if (!PX4_ISFINITE(_yaw_setpoint)) {
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_yaw_setpoint = _yaw;
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}
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}
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return ret;
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}
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