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use subscription array in ObstacleAvoidance library

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This commit is contained in:
Martina Rivizzigno
2019-04-04 16:41:26 +02:00
committed by bresch
parent a9bab81eb8
commit 320ed40806
6 changed files with 37 additions and 17 deletions
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src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+16 -8
View File
@@ -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;
}
}
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+3 -1
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 */