flight_mode_manager: merge with flight_tasks

src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp

@@ -0,0 +1,123 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017-2019 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 FlightTaskOrbit.hpp
+ *
+ * Flight task for orbiting in a circle around a target position
+ *
+ * @author Matthias Grob <maetugr@gmail.com>
+ */
+
+#pragma once
+
+#include "FlightTaskManualAltitudeSmoothVel.hpp"
+#include <uORB/Publication.hpp>
+#include <uORB/topics/orbit_status.h>
+#include <StraightLine.hpp>
+#include <SlewRateYaw.hpp>
+
+class FlightTaskOrbit : public FlightTaskManualAltitudeSmoothVel
+{
+public:
+	FlightTaskOrbit();
+	virtual ~FlightTaskOrbit() = default;
+
+	bool applyCommandParameters(const vehicle_command_s &command) override;
+	bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
+	bool update() override;
+
+	/**
+	 * Check the feasibility of orbit parameters with respect to
+	 * centripetal acceleration a = v^2 / r
+	 * @param r desired radius
+	 * @param v desired velocity
+	 * @param a maximal allowed acceleration
+	 * @return true on success, false if value not accepted
+	 */
+	bool checkAcceleration(float r, float v, float a);
+
+protected:
+	/**
+	 * Send out telemetry information for the log and MAVLink.
+	 * @return true on success, false on error
+	 */
+	bool sendTelemetry();
+
+	/**
+	 * Change the radius of the circle.
+	 * @param r desired new radius
+	 * @return true on success, false if value not accepted
+	 */
+	bool setRadius(const float r);
+
+	/**
+	 * Change the velocity of the vehicle on the circle.
+	 * @param v desired new velocity
+	 * @return true on success, false if value not accepted
+	 */
+	bool setVelocity(const float v);
+
+private:
+	/** generates setpoints to smoothly reach the closest point on the circle when starting from far away */
+	void generate_circle_approach_setpoints(const matrix::Vector2f &center_to_position);
+	/** generates xy setpoints to make the vehicle orbit */
+	void generate_circle_setpoints(const matrix::Vector2f &center_to_position);
+	/** generates yaw setpoints to control the vehicle's heading */
+	void generate_circle_yaw_setpoints(const matrix::Vector2f &center_to_position);
+
+	float _r = 0.f; /**< radius with which to orbit the target */
+	float _v = 0.f; /**< clockwise tangential velocity for orbiting in m/s */
+	matrix::Vector2f _center; /**< local frame coordinates of the center point */
+
+	bool _in_circle_approach = false;
+	StraightLine _circle_approach_line;
+
+	// TODO: create/use parameters for limits
+	const float _radius_min = 1.f;
+	const float _radius_max = 100.f;
+	const float _velocity_max = 10.f;
+	const float _acceleration_max = 2.f;
+
+	/** yaw behaviour during the orbit flight according to MAVLink's ORBIT_YAW_BEHAVIOUR enum */
+	int _yaw_behaviour = orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER;
+	float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */
+	SlewRateYaw<float> _slew_rate_yaw;
+
+	uORB::Publication<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise, /**< cruise speed for circle approach */
+		(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max
+	)
+};