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use subscription array in ObstacleAvoidance library

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This commit is contained in:
Martina Rivizzigno 2019-02-28 23:53:24 +01:00 committed by bresch
parent a9bab81eb8
commit 320ed40806
6 changed files with 37 additions and 17 deletions
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10
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
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@ -42,6 +42,12 @@ using namespace matrix;
static constexpr float SIGMA_NORM = 0.001f;
FlightTaskAuto::FlightTaskAuto() :
_obstacle_avoidance(this)
{
}
bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_array)
{
if (!FlightTask::initializeSubscriptions(subscription_array)) {
@ -60,6 +66,10 @@ bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_arr
return false;
}
if (!_obstacle_avoidance.initializeSubscriptions(subscription_array)) {
return false;
}
return true;
}

7
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
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@ -46,6 +46,8 @@
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/vehicle_status.h>
#include <lib/ecl/geo/geo.h>
#include "lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp"
/**
* This enum has to agree with position_setpoint_s type definition
@ -73,7 +75,7 @@ enum class State {
class FlightTaskAuto : public FlightTask
{
public:
FlightTaskAuto() = default;
FlightTaskAuto();
virtual ~FlightTaskAuto() = default;
bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
@ -84,6 +86,7 @@ public:
* Sets an external yaw handler which can be used to implement a different yaw control strategy.
*/
void setYawHandler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}
ObstacleAvoidance _obstacle_avoidance;
protected:
void _setDefaultConstraints() override;
@ -113,6 +116,8 @@ protected:
(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid // obstacle avoidance active
);
private:
matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
bool _yaw_lock = false; /**< if within acceptance radius, lock yaw to current yaw */

4
src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
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@ -40,11 +40,7 @@
using namespace matrix;
FlightTaskAutoMapper2::FlightTaskAutoMapper2() :
_obstacle_avoidance(this)
{
}
bool FlightTaskAutoMapper2::activate()
{

5
src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp
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@ -41,12 +41,11 @@
#pragma once
#include "FlightTaskAuto.hpp"
#include "lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp"
class FlightTaskAutoMapper2 : public FlightTaskAuto
{
public:
FlightTaskAutoMapper2();
FlightTaskAutoMapper2() = default;
virtual ~FlightTaskAutoMapper2() = default;
bool activate() override;
bool update() override;
@ -81,5 +80,5 @@ 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. */
ObstacleAvoidance _obstacle_avoidance;
};

24
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
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@ -52,6 +52,15 @@ ObstacleAvoidance::ObstacleAvoidance(ModuleParams *parent) :
}
bool ObstacleAvoidance::initializeSubscriptions(SubscriptionArray &subscription_array)
{
if (!subscription_array.get(ORB_ID(vehicle_trajectory_waypoint), _sub_vehicle_trajectory_waypoint)) {
return false;
}
return true;
}
void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp,
float &yaw_speed_sp)
{
@ -60,16 +69,15 @@ void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &ve
return;
}
_sub_vehicle_trajectory_waypoint.update();
const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_sub_vehicle_trajectory_waypoint.get().timestamp) >
TRAJECTORY_STREAM_TIMEOUT_US;
const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_sub_vehicle_trajectory_waypoint->get().timestamp)
> TRAJECTORY_STREAM_TIMEOUT_US;
const bool avoidance_point_valid =
_sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
_sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
if (!avoidance_data_timeout && avoidance_point_valid) {
pos_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position;
vel_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity;
yaw_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw;
yaw_speed_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw_speed;
pos_sp = _sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position;
vel_sp = _sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity;
yaw_sp = _sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw;
yaw_speed_sp = _sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw_speed;
}
}

4
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
View File

@ -53,11 +53,13 @@ public:
ObstacleAvoidance(ModuleParams *parent);
~ObstacleAvoidance() = default;
bool initializeSubscriptions(SubscriptionArray &subscription_array);
void prepareAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
private:
uORB::Subscription<vehicle_trajectory_waypoint_s> _sub_vehicle_trajectory_waypoint{ORB_ID(vehicle_trajectory_waypoint)};
uORB::Subscription<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr};
DEFINE_PARAMETERS(
(ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID /**< obstacle avoidance enabled */