FlightTasks: Move AutoMapper to own folder and create lib

AutoLine now depends on AutoMapper

src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   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 FlightTaskAutoMapper.hpp
+ *
+ * Abstract Flight task which generates local setpoints
+ * based on the triplet type.
+ */
+
+#pragma once
+
+#include "FlightTaskAuto.hpp"
+
+class FlightTaskAutoMapper : public FlightTaskAuto
+{
+public:
+	FlightTaskAutoMapper() = default;
+	virtual ~FlightTaskAutoMapper() = default;
+	bool activate() override;
+	bool update() override;
+
+protected:
+
+	float _alt_above_ground{0.0f}; /**< If home provided, then it is altitude above home, otherwise it is altitude above local position reference. */
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
+					(ParamFloat<px4::params::MPC_LAND_SPEED>) MPC_LAND_SPEED,
+					(ParamFloat<px4::params::MPC_TILTMAX_LND>) MPC_TILTMAX_LND,
+					(ParamFloat<px4::params::MPC_LAND_ALT1>) MPC_LAND_ALT1, // altitude at which speed limit downwards reaches maximum speed
+					(ParamFloat<px4::params::MPC_LAND_ALT2>) MPC_LAND_ALT2, // altitude at which speed limit downwards reached minimum speed
+					(ParamFloat<px4::params::MPC_TKO_SPEED>) MPC_TKO_SPEED
+				       );
+
+	virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */
+
+	void _generateIdleSetpoints();
+	void _generateLandSetpoints();
+	void _generateVelocitySetpoints();
+	void _generateTakeoffSetpoints();
+
+	void _updateAltitudeAboveGround(); /**< Computes altitude above ground based on sensors available. */
+	void updateParams() override; /**< See ModuleParam class */
+
+private:
+	void _reset(); /**< Resets member variables to current vehicle state */
+	WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
+	bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
+};