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Remove FlightTaskManual from the inheritance structure

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This commit is contained in:
Matthias Grob
2020-07-14 13:47:43 +02:00
committed by Julian Kent
parent 9daff24e79
commit 1e56eed2aa
7 changed files with 22 additions and 164 deletions
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src/lib/flight_tasks/tasks/CMakeLists.txt
-1
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@@ -34,7 +34,6 @@
# add the core Flight tasks that the additional flight tasks depend on
add_subdirectory(FlightTask)
add_subdirectory(Utility)
add_subdirectory(Manual)
add_subdirectory(Auto)
add_subdirectory(AutoMapper)
src/lib/flight_tasks/tasks/Manual/CMakeLists.txt
-39
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@@ -1,39 +0,0 @@
############################################################################
#
# 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.
#
############################################################################
px4_add_library(FlightTaskManual
FlightTaskManual.cpp
)
target_link_libraries(FlightTaskManual PUBLIC FlightTask FlightTaskUtility)
target_include_directories(FlightTaskManual PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
src/lib/flight_tasks/tasks/Manual/FlightTaskManual.cpp
-60
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@@ -1,60 +0,0 @@
/****************************************************************************
*
* 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;
FlightTaskManual::FlightTaskManual() :
_sticks(this)
{};
bool FlightTaskManual::updateInitialize()
{
bool ret = FlightTask::updateInitialize();
const bool sticks_available = _sticks.evaluateSticks(_time_stamp_current, _gear);
if (_sticks_data_required) {
ret = ret && sticks_available;
}
return ret;
}
src/lib/flight_tasks/tasks/Manual/FlightTaskManual.hpp
-56
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@@ -1,56 +0,0 @@
/****************************************************************************
*
* 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.hpp
*
* Linear and exponential map from stick inputs to range -1 and 1.
*
*/
#pragma once
#include "FlightTask.hpp"
#include "Sticks.hpp"
class FlightTaskManual : public FlightTask
{
public:
FlightTaskManual();
virtual ~FlightTaskManual() = default;
bool updateInitialize() override;
protected:
Sticks _sticks;
bool _sticks_data_required = true; /**< let inherited task-class define if it depends on stick data */
};
src/lib/flight_tasks/tasks/ManualAltitude/CMakeLists.txt
+1 -1
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@@ -35,5 +35,5 @@ px4_add_library(FlightTaskManualAltitude
FlightTaskManualAltitude.cpp
)
target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTaskManual)
target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTask FlightTaskUtility)
target_include_directories(FlightTaskManualAltitude PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+13 -3
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@@ -42,9 +42,19 @@
using namespace matrix;
FlightTaskManualAltitude::FlightTaskManualAltitude() :
_sticks(this)
{};
bool FlightTaskManualAltitude::updateInitialize()
{
bool ret = FlightTaskManual::updateInitialize();
bool ret = FlightTask::updateInitialize();
const bool sticks_available = _sticks.evaluateSticks(_time_stamp_current, _gear);
if (_sticks_data_required) {
ret = ret && sticks_available;
}
// in addition to manual require valid position and velocity in D-direction and valid yaw
return ret && PX4_ISFINITE(_position(2)) && PX4_ISFINITE(_velocity(2)) && PX4_ISFINITE(_yaw);
@@ -52,7 +62,7 @@ bool FlightTaskManualAltitude::updateInitialize()
bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s last_setpoint)
{
bool ret = FlightTaskManual::activate(last_setpoint);
bool ret = FlightTask::activate(last_setpoint);
_yaw_setpoint = NAN;
_yawspeed_setpoint = 0.f;
_acceleration_setpoint = Vector3f(0.f, 0.f, NAN); // altitude is controlled from position/velocity
@@ -365,7 +375,7 @@ bool FlightTaskManualAltitude::_checkTakeoff()
bool FlightTaskManualAltitude::update()
{
bool ret = FlightTaskManual::update();
bool ret = FlightTask::update();
_updateConstraintsFromEstimator();
_scaleSticks();
_updateSetpoints();
src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
+8 -4
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@@ -39,13 +39,14 @@
#pragma once
#include "FlightTaskManual.hpp"
#include "FlightTask.hpp"
#include "Sticks.hpp"
#include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
class FlightTaskManualAltitude : public FlightTaskManual
class FlightTaskManualAltitude : public FlightTask
{
public:
FlightTaskManualAltitude() = default;
FlightTaskManualAltitude();
virtual ~FlightTaskManualAltitude() = default;
bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
bool updateInitialize() override;
@@ -71,7 +72,10 @@ protected:
*/
void _updateAltitudeLock();
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual,
Sticks _sticks;
bool _sticks_data_required = true; ///< let inherited task-class define if it depends on stick data
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
(ParamFloat<px4::params::MPC_HOLD_MAX_Z>) _param_mpc_hold_max_z,
(ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,