From 99fb88ce839879e35f86c199f7dc50fa361f85e4 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Fri, 29 Mar 2019 14:32:22 +0100
Subject: [PATCH] AltitudeSmoothVel - Create new altitude flight task that uses
the velocity smoothing library to create a jerk-limited trajectory along the
Z axis. This FlightTask is used when MPC_POS_MODE = 3.
---
src/lib/FlightTasks/CMakeLists.txt | 1 +
.../ManualAltitudeSmoothVel/CMakeLists.txt | 39 ++++
.../FlightTaskManualAltitudeSmoothVel.cpp | 167 ++++++++++++++++++
.../FlightTaskManualAltitudeSmoothVel.hpp | 82 +++++++++
.../mc_pos_control/mc_pos_control_main.cpp | 4 +
5 files changed, 293 insertions(+)
create mode 100644 src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/CMakeLists.txt
create mode 100644 src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
create mode 100644 src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
diff --git a/src/lib/FlightTasks/CMakeLists.txt b/src/lib/FlightTasks/CMakeLists.txt
index 059e938da6..499be46a47 100644
--- a/src/lib/FlightTasks/CMakeLists.txt
+++ b/src/lib/FlightTasks/CMakeLists.txt
@@ -53,6 +53,7 @@ endif()
list(APPEND flight_tasks_all
ManualAltitude
ManualAltitudeSmooth
+ ManualAltitudeSmoothVel
ManualPosition
ManualPositionSmooth
ManualPositionSmoothVel
diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/CMakeLists.txt b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/CMakeLists.txt
new file mode 100644
index 0000000000..30d40387c5
--- /dev/null
+++ b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/CMakeLists.txt
@@ -0,0 +1,39 @@
+############################################################################
+#
+# Copyright (c) 2019 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.
+#
+############################################################################
+
+px4_add_library(FlightTaskManualAltitudeSmoothVel
+ FlightTaskManualAltitudeSmoothVel.cpp
+)
+
+target_link_libraries(FlightTaskManualAltitudeSmoothVel PUBLIC FlightTaskManualAltitude FlightTaskUtility)
+target_include_directories(FlightTaskManualAltitudeSmoothVel PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
new file mode 100644
index 0000000000..17a9126813
--- /dev/null
+++ b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
@@ -0,0 +1,167 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2019 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 FlightManualAltitude.cpp
+ */
+
+#include "FlightTaskManualAltitudeSmoothVel.hpp"
+
+#include <float.h>
+
+using namespace matrix;
+
+bool FlightTaskManualAltitudeSmoothVel::activate()
+{
+ bool ret = FlightTaskManualAltitude::activate();
+
+ _reset();
+
+ return ret;
+}
+
+void FlightTaskManualAltitudeSmoothVel::reActivate()
+{
+ // The task is reacivated while the vehicle is on the ground. To detect takeoff in mc_pos_control_main properly
+ // using the generated jerk, reset the z derivatives to zero
+ _reset(true);
+}
+
+void FlightTaskManualAltitudeSmoothVel::_reset(bool force_vz_zero)
+{
+ // Set the z derivatives to zero
+ if (force_vz_zero) {
+ _smoothing.reset(0.f, 0.f, _position(2));
+
+ } else {
+ // TODO: get current accel
+ _smoothing.reset(0.f, _velocity(2), _position(2));
+ }
+
+ // Always start unlocked
+ _position_lock_z_active = false;
+ _position_setpoint_z_locked = NAN;
+}
+
+void FlightTaskManualAltitudeSmoothVel::_checkEkfResetCounters()
+{
+ if (_sub_vehicle_local_position->get().z_reset_counter != _reset_counters.z) {
+ _smoothing.setCurrentPosition(_position(2));
+ _reset_counters.z = _sub_vehicle_local_position->get().z_reset_counter;
+ }
+
+ if (_sub_vehicle_local_position->get().vz_reset_counter != _reset_counters.vz) {
+ _smoothing.setCurrentVelocity(_velocity(2));
+ _reset_counters.vz = _sub_vehicle_local_position->get().vz_reset_counter;
+ }
+}
+
+void FlightTaskManualAltitudeSmoothVel::_updateSetpoints()
+{
+ /* Get yaw setpont, un-smoothed position setpoints.*/
+ FlightTaskManualAltitude::_updateSetpoints();
+
+ /* Update constraints */
+ if (_velocity_setpoint(2) < 0.f) { // up
+ _smoothing.setMaxAccel(_param_mpc_acc_up_max.get());
+ _smoothing.setMaxVel(_constraints.speed_up);
+
+ } else { // down
+ _smoothing.setMaxAccel(_param_mpc_acc_down_max.get());
+ _smoothing.setMaxVel(_constraints.speed_down);
+ }
+
+ float jerk = _param_mpc_jerk_max.get();
+
+ _checkEkfResetCounters();
+
+ /* Check for position unlock
+ * During a position lock -> position unlock transition, we have to make sure that the velocity setpoint
+ * is continuous. We know that the output of the position loop (part of the velocity setpoint) will suddenly become null
+ * and only the feedforward (generated by this flight task) will remain. This is why the previous input of the velocity controller
+ * is used to set current velocity of the trajectory.
+ */
+
+ if (fabsf(_sticks_expo(2)) > FLT_EPSILON) {
+ if (_position_lock_z_active) {
+ _smoothing.setCurrentVelocity(_velocity_setpoint_feedback(
+ 2)); // Start the trajectory at the current velocity setpoint
+ _position_setpoint_z_locked = NAN;
+ }
+
+ _position_lock_z_active = false;
+ }
+
+ // During position lock, lower jerk to help the optimizer
+ // to converge to 0 acceleration and velocity
+ jerk = _position_lock_z_active ? 1.f : _param_mpc_jerk_max.get();
+
+ _smoothing.setMaxJerk(jerk);
+ _smoothing.updateDurations(_deltatime, _velocity_setpoint(2));
+
+ if (!_position_lock_z_active) {
+ _smoothing.setCurrentPosition(_position(2));
+ }
+
+ float pos_sp_smooth;
+
+ _smoothing.integrate(_acceleration_setpoint(2), _vel_sp_smooth, pos_sp_smooth);
+ _velocity_setpoint(2) = _vel_sp_smooth; // Feedforward
+ _jerk_setpoint(2) = _smoothing.getCurrentJerk();
+
+ if (fabsf(_vel_sp_smooth) < 0.1f &&
+ fabsf(_acceleration_setpoint(2)) < .2f &&
+ fabsf(_sticks_expo(2)) <= FLT_EPSILON) {
+ _position_lock_z_active = true;
+ }
+
+ // Set valid position setpoint while in position lock.
+ // When the position lock condition above is false, it does not
+ // mean that the unlock condition is true. This is why
+ // we are checking the lock flag here.
+ if (_position_lock_z_active) {
+ _position_setpoint_z_locked = pos_sp_smooth;
+
+ // If the velocity setpoint is smaller than 1mm/s and that the acceleration is 0, force the setpoints
+ // to zero. This is required because the generated velocity is never exactly zero and if the drone hovers
+ // for a long period of time, thr drift of the position setpoint will be noticeable.
+ if (fabsf(_velocity_setpoint(2)) < 1e-3f && fabsf(_acceleration_setpoint(2)) < FLT_EPSILON) {
+ _velocity_setpoint(2) = 0.f;
+ _acceleration_setpoint(2) = 0.f;
+ _smoothing.setCurrentVelocity(0.f);
+ _smoothing.setCurrentAcceleration(0.f);
+ }
+ }
+
+ _position_setpoint(2) = _position_setpoint_z_locked;
+}
diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
new file mode 100644
index 0000000000..9e8980b630
--- /dev/null
+++ b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2019 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 FlightManualAltitudeSmoothVel.hpp
+ *
+ * Flight task for manual controlled altitude using the velocity smoothing library
+ */
+
+#pragma once
+
+#include "FlightTaskManualAltitude.hpp"
+#include "VelocitySmoothing.hpp"
+
+class FlightTaskManualAltitudeSmoothVel : public FlightTaskManualAltitude
+{
+public:
+ FlightTaskManualAltitudeSmoothVel() = default;
+ virtual ~FlightTaskManualAltitudeSmoothVel() = default;
+
+ bool activate() override;
+ void reActivate() override;
+
+protected:
+
+ virtual void _updateSetpoints() override;
+
+ DEFINE_PARAMETERS(
+ (ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
+ (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
+ (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
+ )
+
+private:
+
+ /**
+ * Reset the required axes. when force_z_zero is set to true, the z derivatives are set to sero and not to the estimated states
+ */
+ void _reset(bool force_vz_zero = false);
+ void _checkEkfResetCounters(); /**< Reset the trajectories when the ekf resets velocity or position */
+
+ VelocitySmoothing _smoothing; ///< Smoothing in z direction
+ float _vel_sp_smooth;
+ bool _position_lock_z_active{false};
+ float _position_setpoint_z_locked{NAN};
+
+ /* counters for estimator local position resets */
+ struct {
+ uint8_t z;
+ uint8_t vz;
+ } _reset_counters{0, 0};
+};
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 79b7852a66..b78321d34f 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -990,6 +990,10 @@ MulticopterPositionControl::start_flight_task()
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmooth);
break;
+ case 3:
+ error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmoothVel);
+ break;
+
default:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
break;
--
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